curieimu: Plugin to interface with the arduino101's IMU
Internal sensor onboard the Curie/Arduino101 can be accessed via Firmata using this plugin. You will need mraa compiled with -DFIRMATA=ON for this to work and be using Firmata with the CurieIMU firmata extension for ExtensibleFirmata Signed-off-by: Ron Evans <ron@hybridgroup.com> Signed-off-by: Justin Zemlyansky <jlstigman@live.com> Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
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deadprogram
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Mihai Tudor Panu
Mihai Tudor Panu
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0d20cdb25a
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src/curieimu/curieimu.hpp
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src/curieimu/curieimu.hpp
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/*
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* Author: Brendan Le Foll <brendan.le.foll@intel.com>
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* Author: Ron Evans (@deadprogram)
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* Author: Justin Zemlyansky (@JustInDevelopment)
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <mraa/firmata.h>
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#include <queue>
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namespace upm {
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/**
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* @brief CurieIMU sensor for Genuino 101 running Firmata
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* @defgroup curieimu libupm-curieimu
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* @ingroup firmata
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*/
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/**
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* @library curieimu
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* @sensor curieimu
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* @comname Curie IMU sensor over Genuino 101 running Firmata
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* @altname Curie Firmata IMU
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* @type firmata
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* @man firmata imu genuino
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* @con firmata
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*
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* @brief API for the Curie IMU via Firmata
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*
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* Curie IMU is a 6-axxis acclerometer
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*
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* This module has been tested on an Genuino 101 running ConfigurableFirmata with CurieIMU
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*
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* @snippet curieimu.cxx Interesting
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*/
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#define FIRMATA_START_SYSEX 0xF0
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#define FIRMATA_END_SYSEX 0xF7
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#define FIRMATA_CURIE_IMU 0x11
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#define FIRMATA_CURIE_IMU_READ_ACCEL 0x00
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#define FIRMATA_CURIE_IMU_READ_GYRO 0x01
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#define FIRMATA_CURIE_IMU_READ_TEMP 0x02
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#define FIRMATA_CURIE_IMU_SHOCK_DETECT 0x03
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#define FIRMATA_CURIE_IMU_STEP_COUNTER 0x04
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#define FIRMATA_CURIE_IMU_TAP_DETECT 0x05
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#define FIRMATA_CURIE_IMU_READ_MOTION 0x06
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struct IMUDataItem {
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int axis;
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int direction;
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};
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class CurieImu {
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public:
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/**
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* Instantiates a CurieImu object
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*
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* @param subplatformoffset Subplatform offset
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*/
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CurieImu (int subplatform_offset=512);
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/**
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* Destructor for CurieImu object
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*/
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~CurieImu();
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/**
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* Read accelerometer X, Y, and Z axis
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*
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* @param xVal Pointer to returned X-axis value
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* @param yVal Pointer to returned Y-axis value
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* @param zVal Pointer to returned Z-axis value
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*/
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void readAccelerometer(int *xVal, int *yVal, int *zVal);
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/**
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* Read gyroscope X, Y, and Z axis
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*
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* @param xVal Pointer to returned X-axis value
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* @param yVal Pointer to returned Y-axis value
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* @param zVal Pointer to returned Z-axis value
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*/
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void readGyro(int *xVal, int *yVal, int *zVal);
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/**
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* Reads the internal temperature
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*
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* @return 16-bit integer containing the scaled temperature reading
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*/
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int16_t getTemperature();
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/**
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* Reads the X, Y, and Z axis of both gyroscope and accelerometer
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*
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* @param xA Pointer to returned X-axis value of accelerometer
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* @param yA Pointer to returned Y-axis value of accelerometer
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* @param zA Pointer to returned Z-axis value of accelerometer
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* @param xG Pointer to returned X-axis value of Gyroscope
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* @param yG Pointer to returned Y-axis value of Gyroscope
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* @param zG Pointer to returned Z-axis value of Gyroscope
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*/
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void readMotion(int *xA, int *yA, int *zA, int *xG, int *yG, int *zG);
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/**
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* Turns shock detection notifications on/off
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*
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* @param enable enables/disables notifications
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*/
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void enableShockDetection(bool enable);
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/**
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* Has there been a shock detected?
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*
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* @return true if any unprocessed shock notifications are in the queue
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*/
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bool isShockDetected();
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/**
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* Gets shock detect data from queue
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*
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* @param axis gets axis data
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* @param direction gets direction data
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*/
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void getShockDetectData(int *axis, int *direction);
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/**
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* Turns step counter notifications on/off
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*
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* @param enable enables/disables notifications
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*/
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void enableStepCounter(bool enable);
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/**
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* Has there been a step detected?
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*
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* @return true if any unprocessed step notifications are in the queue
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*/
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bool isStepDetected();
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/**
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* Gets step count data from queue
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*
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* @param count the total number of steps taken
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*/
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void getStepCount(int *count);
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/**
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* Turns tap detection notifications on/off
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*
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* @param enable enables/disables notifications
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*/
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void enableTapDetection(bool enable);
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/**
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* Has there been a tap detected?
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*
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* @return true if any unprocessed tap notifications are in the queue
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*/
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bool isTapDetected();
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/**
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* Gets tap detect data from queue
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*
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* @param axis gets axis data
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* @param direction gets direction data
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*/
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void getTapDetectData(int *axis, int *direction);
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/**
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* Locks responses from Firmata
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*/
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void lock();
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/**
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* Unlocks responses from Firmata
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*/
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void unlock();
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/**
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* Wait for a response from Firmata before proceeding
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*/
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void waitForResponse();
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/**
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* Proceed with original function call now that response
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* from Firmata has been received
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*/
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void proceed();
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/**
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* Set results being returned from Firmata for processing
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*
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* @param buf is the buffer
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* @param length is the length of results buffer
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*/
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void setResults(uint8_t* buf, int length);
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/**
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* Processes asyncronous responses returned from Firmata
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*/
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void processResponse();
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private:
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mraa_firmata_context m_firmata;
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pthread_mutex_t m_responseLock;
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pthread_cond_t m_responseCond;
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char* m_results;
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std::queue<IMUDataItem*> m_shockData;
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std::queue<int> m_stepData;
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std::queue<IMUDataItem*> m_tapData;
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};
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}
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