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Merge pull request arduino#90 from sandeepmistry/imu-api
Add new API's and examples to CurieIMU
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‎libraries/CurieIMU/examples/Accelerometer/Accelerometer.ino

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/*
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Copyright (c) 2015 Intel Corporation. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/*
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This sketch example demonstrates how the BMI160 on the
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Intel(R) Curie(TM) module can be used to read accelerometer data
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*/
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#include "CurieIMU.h"
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void setup() {
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Serial.begin(9600); // initialize Serial communication
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while (!Serial); // wait for the serial port to open
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// initialize device
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Serial.println("Initializing IMU device...");
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CurieIMU.begin();
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// Set the accelerometer range to 2G
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CurieIMU.setAccelerometerRange(CURIE_IMU_ACCELEROMETER_RANGE_2G);
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}
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void loop() {
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int axRaw, ayRaw, azRaw; // raw accelerometer values
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float ax, ay, az;
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// read raw accelerometer measurements from device
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CurieIMU.readAccelerometer(axRaw, ayRaw, azRaw);
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// convert the raw accelerometer data to G's
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ax = convertRawAcceleration(axRaw);
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ay = convertRawAcceleration(ayRaw);
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az = convertRawAcceleration(azRaw);
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// display tab-separated accelerometer x/y/z values
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Serial.print("a:\t");
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Serial.print(ax);
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Serial.print("\t");
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Serial.print(ay);
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Serial.print("\t");
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Serial.print(az);
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Serial.println();
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// wait 5 seconds
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delay(5000);
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}
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float convertRawAcceleration(int aRaw) {
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// since we are using 2G range
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// -2g maps to a raw value of -32768
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// +2g maps to a raw value of 32767
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float a = (aRaw * 2.0) / 32768.0;
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return a;
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}
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‎libraries/CurieIMU/examples/AccelerometerOrientation/AccelerometerOrientation.ino

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/*
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Copyright (c) 2015 Intel Corporation. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/*
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This sketch example demonstrates how the BMI160 on the
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Intel(R) Curie(TM) module can be used to read accelerometer data
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and translate it to an orientation
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*/
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#include "CurieIMU.h"
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int lastOrientation = - 1; // previous orientation (for comparison)
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void setup() {
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Serial.begin(9600); // initialize Serial communication
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while (!Serial); // wait for the serial port to open
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// initialize device
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Serial.println("Initializing IMU device...");
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CurieIMU.begin();
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// Set the accelerometer range to 2G
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CurieIMU.setAccelerometerRange(CURIE_IMU_ACCELEROMETER_RANGE_2G);
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}
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void loop() {
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int orientation = - 1; // the board's orientation
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String orientationString; // string for printing description of orientation
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/*
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The orientations of the board:
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0: flat, processor facing up
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1: flat, processor facing down
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2: landscape, analog pins down
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3: landscape, analog pins up
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4: portrait, USB connector up
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5: portrait, USB connector down
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*/
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// read accelerometer:
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int x = CurieIMU.readAccelerometer(X_AXIS);
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int y = CurieIMU.readAccelerometer(Y_AXIS);
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int z = CurieIMU.readAccelerometer(Z_AXIS);
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// calculate the absolute values, to determine the largest
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int absX = abs(x);
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int absY = abs(y);
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int absZ = abs(z);
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if ( (absZ > absX) && (absZ > absY)) {
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// base orientation on Z
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if (z > 0) {
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orientationString = "up";
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orientation = 0;
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} else {
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orientationString = "down";
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orientation = 1;
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}
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} else if ( (absY > absX) && (absY > absZ)) {
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// base orientation on Y
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if (y > 0) {
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orientationString = "digital pins up";
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orientation = 2;
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} else {
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orientationString = "analog pins up";
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orientation = 3;
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}
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} else {
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// base orientation on X
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if (x < 0) {
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orientationString = "connector up";
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orientation = 4;
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} else {
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orientationString = "connector down";
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orientation = 5;
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}
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}
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// if the orientation has changed, print out a description:
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if (orientation != lastOrientation) {
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Serial.println(orientationString);
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lastOrientation = orientation;
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}
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}
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‎libraries/CurieIMU/examples/Gyro/Gyro.ino

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/*
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Copyright (c) 2015 Intel Corporation. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/*
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This sketch example demonstrates how the BMI160 on the
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Intel(R) Curie(TM) module can be used to read gyroscope data
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*/
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#include "CurieIMU.h"
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void setup() {
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Serial.begin(9600); // initialize Serial communication
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while (!Serial); // wait for the serial port to open
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// initialize device
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Serial.println("Initializing IMU device...");
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CurieIMU.begin();
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// Set the accelerometer range to 250 degrees/second
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CurieIMU.setGyroRange(CURIE_IMU_GYRO_RANGE_250);
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}
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void loop() {
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int gxRaw, gyRaw, gzRaw; // raw gyro values
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float gx, gy, gz;
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// read raw gyro measurements from device
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CurieIMU.readGyro(gxRaw, gyRaw, gzRaw);
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// convert the raw gyro data to degrees/second
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gx = convertRawGyro(gxRaw);
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gy = convertRawGyro(gyRaw);
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gz = convertRawGyro(gzRaw);
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// display tab-separated gyro x/y/z values
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Serial.print("g:\t");
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Serial.print(gx);
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Serial.print("\t");
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Serial.print(gy);
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Serial.print("\t");
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Serial.print(gz);
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Serial.println();
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// wait 5 seconds
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delay(5000);
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}
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float convertRawGyro(int gRaw) {
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// since we are using 250 degrees/seconds range
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// -250 maps to a raw value of -32768
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// +250 maps to a raw value of 32767
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float g = (gRaw * 250.0) / 32768.0;
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return g;
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}
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