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curieimu: Plugin to interface with the arduino101's IMU

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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>
This commit is contained in:
deadprogram
2016-03-15 16:04:38 +00:00
committed by Mihai Tudor Panu
parent 0d20cdb25a
commit fb5c809ff8
8 changed files with 733 additions and 0 deletions
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1
examples/c++/CMakeLists.txt
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@ -255,6 +255,7 @@ add_example (apa102)
add_example (tex00)
add_example (bmi160)
add_example (smartdrive)
add_example (curieimu)
# These are special cases where you specify example binary, source file and module(s)
include_directories (${PROJECT_SOURCE_DIR}/src)

70
examples/c++/curieimu.cxx Normal file
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@ -0,0 +1,70 @@
/*
* Author: Brendan Le Foll <brendan.le.foll@intel.com>
* Author: Ron Evans (@deadprogram)
* Author: Justin Zemlyansky (@JustInDevelopment)
* Copyright (c) 2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include <iostream>
#include "curieimu.hpp"
#include "mraa.h"
#include "mraa/firmata.h"
#include <math.h>
int
main(int argc, char **argv)
{
//! [Interesting]
mraa_init();
mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");
upm::CurieImu* sensor = new upm::CurieImu();
std::cout << "temperature is: " << (sensor->getTemperature() * pow(0.5, 9) + 23) << std::endl;
int x, y, z;
sensor->readAccelerometer(&x, &y, &z);
printf("accelerometer is: %d, %d, %d\n", x, y, z);
int a, b, c;
sensor->readGyro(&a, &b, &c);
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->getShockDetectData(&axis, &direction);
printf("shock data is: %d, %d\n", axis, direction);
}
usleep(10000);
}
int m, n, o, p, q, r;
sensor->readMotion(&m, &n, &o, &p, &q, &r);
printf("motion is: %d, %d, %d, %d, %d, %d\n", m, n, o, p, q, r);
delete sensor;
return 0;
}