CurieImu Class Reference

API for the Curie IMU via Firmata. More...

Detailed Description

• ID: curieimu
• Name: Curie IMU Sensor using Firmata
• Other Names: Curie IMU Sensor for Arduino/Genuino 101 running Firmata
• Category: serial accelerometer compass
• Manufacturer: bosch
• Connection: uart

Curie IMU is a 6-axis accelerometer

This module has been tested on an Arduino/Genuino 101 running ConfigurableFirmata with CurieIMU

    mraa_init();
    mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");

    upm::CurieImu sensor;

    std::cout << "temperature is: " << (sensor.getTemperature() * pow(0.5, 9) + 23) << std::endl;

    sensor.updateAccel();
    int x = sensor.getAccelX(), y = sensor.getAccelY(), z = sensor.getAccelZ();
    printf("accelerometer is: %d, %d, %d\n", x, y, z);

    sensor.updateGyro();
    int a = sensor.getGyroX(), b = sensor.getGyroY(), c = sensor.getGyroZ();
    printf("gyroscope is: %d, %d, %d\n", a, b, c);

    int axis, direction;
    sensor.enableShockDetection(true);
    for (int i = 0; i < 300; i++) {
        if (sensor.isShockDetected()) {
            sensor.getNextShock();
            axis = sensor.getAxis();
            direction = sensor.getDirection();
            printf("shock data is: %d, %d\n", axis, direction);
        }
        upm_delay_us(10000);
    }

    sensor.updateMotion();
    int m = sensor.getAccelX(), n = sensor.getAccelY(), o = sensor.getAccelZ(),
        p = sensor.getGyroX(), q = sensor.getGyroY(), r = sensor.getGyroZ();
    printf("motion is: %d, %d, %d, %d, %d, %d\n", m, n, o, p, q, r);

Public Member Functions
	CurieImu (int subplatform_offset=512)
	~CurieImu ()
void	updateAccel ()
void	updateGyro ()
void	updateMotion ()
int16_t *	getAccel ()
int16_t	getAccelX ()
int16_t	getAccelY ()
int16_t	getAccelZ ()
int16_t *	getGyro ()
int16_t	getGyroX ()
int16_t	getGyroY ()
int16_t	getGyroZ ()
int16_t	getTemperature ()
int16_t *	getMotion ()
int16_t	getAxis ()
int16_t	getDirection ()
void	enableShockDetection (bool enable)
bool	isShockDetected ()
void	getNextShock ()
void	enableStepCounter (bool enable)
bool	isStepDetected ()
int16_t	getStepCount ()
void	enableTapDetection (bool enable)
bool	isTapDetected ()
void	getNextTap ()
void	lock ()
void	unlock ()
void	waitForResponse ()
void	proceed ()
void	setResults (uint8_t *buf, int length)
void	processResponse ()

Constructor & Destructor Documentation

CurieImu

(

int

subplatform_offset = 512

)

Instantiates a CurieImu object

Parameters

subplatform_offset

Subplatform offset

~CurieImu

(

)

Destructor for CurieImu object

Member Function Documentation

void updateAccel

(

)

Updates the latest accelerometer readings by calling Firmata

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void updateGyro

(

)

Updates the latest gyroscope readings by calling Firmata

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void updateMotion

(

)

Updates the both the latest accelerometer & gyroscope readings by calling Firmata

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int16_t * getAccel

(

)

Returns last accelerometer reading X, Y, and Z axis

Returns

pointer to array with X-axis, Y-axis & Z-axis value

int16_t getAccelX

(

)

Returns last accelerometer reading X axis

Returns

X-axis value

int16_t getAccelY

(

)

Returns last accelerometer reading Y axis

Returns

Y-axis value

int16_t getAccelZ

(

)

Returns last accelerometer reading Z axis

Returns

Z-axis value

int16_t * getGyro

(

)

Read gyroscope X, Y, and Z axis

Returns

pointer to array with X-axis, Y-axis & Z-axis value

int16_t getGyroX

(

)

Returns last gyroscope reading X axis

Returns

X-axis value

int16_t getGyroY

(

)

Returns last gyroscope reading Y axis

Returns

Y-axis value

int16_t getGyroZ

(

)

Returns last gyroscope reading Z axis

Returns

Z-axis value

int16_t getTemperature

(

void

)

Reads the internal temperature

Returns

16-bit integer containing the scaled temperature reading

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int16_t * getMotion

(

)

Reads the X, Y, and Z axis of both gyroscope and accelerometer

Returns

pointer to array with X-axis, Y-axis & Z-axis values for accelerometer, and then X-axis, Y-axis & Z-axis values for gyroscope

int16_t getAxis

(

)

Returns last shock or tap axis reading

Returns

axis value

int16_t getDirection

(

)

Returns last shock or tap direction reading

Returns

direction value

void enableShockDetection

(

bool

enable

)

Turns shock detection notifications on/off

Parameters

enable

enables/disables notifications

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bool isShockDetected

(

)

Has there been a shock detected?

Returns

true if any unprocessed shock notifications are in the queue

void getNextShock

(

)

Gets shock detect data from queue. Then m_axis gets axis data, and m_direction gets direction data

void enableStepCounter

(

bool

enable

)

Turns step counter notifications on/off

Parameters

enable

enables/disables notifications

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bool isStepDetected

(

)

Has there been a step detected?

Returns

true if any unprocessed step notifications are in the queue

int16_t getStepCount

(

)

Gets step count data from queue

Returns

the total number of steps taken

void enableTapDetection

(

bool

enable

)

Turns tap detection notifications on/off

Parameters

enable

enables/disables notifications

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bool isTapDetected

(

)

Has there been a tap detected?

Returns

true if any unprocessed tap notifications are in the queue

void getNextTap

(

)

Gets tap detect data from queue. Then m_axis gets axis data, and m_direction gets direction data

void lock

(

)

Locks responses from Firmata

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void unlock

(

)

Unlocks responses from Firmata

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void waitForResponse

(

)

Wait for a response from Firmata before proceeding

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void proceed

(

)

Proceed with original function call now that response from Firmata has been received

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void setResults	(	uint8_t *	buf,
		int	length
	)

Set results being returned from Firmata for processing

Parameters

buf	is the buffer
length	is the length of results buffer

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void processResponse

(

)

Processes asyncronous responses returned from Firmata

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The documentation for this class was generated from the following files:

• src/curieimu/curieimu.hpp
• src/curieimu/curieimu.cpp