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CurieIMU.cpp
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CurieIMU.cpp
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/*
* Copyright (c) 2015 Intel Corporation. All rights reserved.
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
*/
#include "CurieIMU.h"
#include "internal/ss_spi.h"
#if defined(BMI160GEN_USE_CURIEIMU)
#include "interrupt.h"
#else
#define interrupt_lock() (0)
#define interrupt_unlock(flags) while (0) {}
#define soc_gpio_mask_interrupt(a, b) while (0) {}
#define soc_gpio_unmask_interrupt(a, b) while (0) {}
#endif
#define CURIE_IMU_CHIP_ID 0xD1
#define BMI160_GPIN_AON_PIN 4
/******************************************************************************/
/** Power on and prepare for general usage.
* This will prepare the SPI communication interface for accessing the BMI160
* on the Curie module, before calling BMI160::initialize() to activate the
* BMI160 accelerometer and gyroscpoe with default settings.
*/
bool CurieIMUClass::begin()
{
#if defined(BMI160GEN_USE_CURIEIMU)
/* Configure pin-mux settings on the Intel Curie module to
* enable SPI mode usage */
SET_PIN_MODE(35, QRK_PMUX_SEL_MODEA); // SPI1_SS_MISO
SET_PIN_MODE(36, QRK_PMUX_SEL_MODEA); // SPI1_SS_MOSI
SET_PIN_MODE(37, QRK_PMUX_SEL_MODEA); // SPI1_SS_SCK
SET_PIN_MODE(38, QRK_PMUX_SEL_MODEA); // SPI1_SS_CS_B[0]
#endif
ss_init();
/* Perform a dummy read from 0x7f to switch to spi interface */
uint8_t dummy_reg = 0x7F;
serial_buffer_transfer(&dummy_reg, 1, 1);
/* The SPI interface is ready - now invoke the base class initialization */
BMI160Class::initialize();
/** Verify the SPI connection.
* MakgetGyroRatee sure the device is connected and responds as expected.
* @return True if connection is valid, false otherwise
*/
return (CURIE_IMU_CHIP_ID == getDeviceID());
}
int CurieIMUClass::getGyroRate()
{
int rate;
switch(BMI160Class::getGyroRate()) {
case BMI160_GYRO_RATE_25HZ:
rate = 25;
break;
case BMI160_GYRO_RATE_50HZ:
rate = 50;
break;
case BMI160_GYRO_RATE_100HZ:
rate = 100;
break;
case BMI160_GYRO_RATE_200HZ:
rate = 200;
break;
case BMI160_GYRO_RATE_400HZ:
rate = 400;
break;
case BMI160_GYRO_RATE_800HZ:
rate = 800;
break;
case BMI160_GYRO_RATE_1600HZ:
rate = 1600;
break;
case BMI160_GYRO_RATE_3200HZ:
default:
rate = 3200;
break;
}
return rate;
}
void CurieIMUClass::setGyroRate(int rate)
{
BMI160GyroRate bmiRate;
if (rate <= 25) {
bmiRate = BMI160_GYRO_RATE_25HZ;
} else if (rate <= 50) {
bmiRate = BMI160_GYRO_RATE_50HZ;
} else if (rate <= 100) {
bmiRate = BMI160_GYRO_RATE_100HZ;
} else if (rate <= 200) {
bmiRate = BMI160_GYRO_RATE_200HZ;
} else if (rate <= 400) {
bmiRate = BMI160_GYRO_RATE_400HZ;
} else if (rate <= 800) {
bmiRate = BMI160_GYRO_RATE_800HZ;
} else if (rate <= 1600) {
bmiRate = BMI160_GYRO_RATE_1600HZ;
} else {
bmiRate = BMI160_GYRO_RATE_3200HZ;
}
BMI160Class::setGyroRate(bmiRate);
}
float CurieIMUClass::getAccelerometerRate()
{
float rate;
switch(BMI160Class::getAccelRate()) {
case BMI160_ACCEL_RATE_25_2HZ:
rate = 12.5;
break;
case BMI160_ACCEL_RATE_25HZ:
rate = 25;
break;
case BMI160_ACCEL_RATE_50HZ:
rate = 50;
break;
case BMI160_ACCEL_RATE_100HZ:
rate = 100;
break;
case BMI160_ACCEL_RATE_200HZ:
rate = 200;
break;
case BMI160_ACCEL_RATE_400HZ:
rate = 400;
break;
case BMI160_ACCEL_RATE_800HZ:
rate = 800;
break;
case BMI160_ACCEL_RATE_1600HZ:
default:
rate = 1600;
break;
}
return rate;
}
void CurieIMUClass::setAccelerometerRate(float rate)
{
BMI160AccelRate bmiRate;
if (rate <= 12.5) {
bmiRate = BMI160_ACCEL_RATE_25_2HZ;
} else if (rate <= 25) {
bmiRate = BMI160_ACCEL_RATE_25HZ;
} else if (rate <= 50) {
bmiRate = BMI160_ACCEL_RATE_50HZ;
} else if (rate <= 100) {
bmiRate = BMI160_ACCEL_RATE_100HZ;
} else if (rate <= 200) {
bmiRate = BMI160_ACCEL_RATE_200HZ;
} else if (rate <= 400) {
bmiRate = BMI160_ACCEL_RATE_400HZ;
} else if (rate <= 800) {
bmiRate = BMI160_ACCEL_RATE_800HZ;
} else {
bmiRate = BMI160_ACCEL_RATE_1600HZ;
}
setAccelRate(bmiRate);
}
int CurieIMUClass::getGyroRange()
{
int range;
switch (getFullScaleGyroRange()) {
case BMI160_GYRO_RANGE_2000:
range = 2000;
break;
case BMI160_GYRO_RANGE_1000:
range = 1000;
break;
case BMI160_GYRO_RANGE_500:
range = 500;
break;
case BMI160_GYRO_RANGE_250:
range = 250;
break;
case BMI160_GYRO_RANGE_125:
default:
range = 125;
break;
}
return range;
}
void CurieIMUClass::setGyroRange(int range)
{
BMI160GyroRange bmiRange;
if (range >= 2000) {
bmiRange = BMI160_GYRO_RANGE_2000;
} else if (range >= 1000) {
bmiRange = BMI160_GYRO_RANGE_1000;
} else if (range >= 500) {
bmiRange = BMI160_GYRO_RANGE_500;
} else if (range >= 250) {
bmiRange = BMI160_GYRO_RANGE_250;
} else {
bmiRange = BMI160_GYRO_RANGE_125;
}
setFullScaleGyroRange(bmiRange);
}
int CurieIMUClass::getAccelerometerRange()
{
int range;
switch (getFullScaleAccelRange()) {
case BMI160_ACCEL_RANGE_2G:
range = 2;
break;
case BMI160_ACCEL_RANGE_4G:
range = 4;
break;
case BMI160_ACCEL_RANGE_8G:
range = 8;
break;
case BMI160_ACCEL_RANGE_16G:
default:
range = 16;
break;
}
return range;
}
void CurieIMUClass::setAccelerometerRange(int range)
{
BMI160AccelRange bmiRange;
if (range <= 2) {
bmiRange = BMI160_ACCEL_RANGE_2G;
} else if (range <= 4) {
bmiRange = BMI160_ACCEL_RANGE_4G;
} else if (range <= 8) {
bmiRange = BMI160_ACCEL_RANGE_8G;
} else {
bmiRange = BMI160_ACCEL_RANGE_16G;
}
setFullScaleAccelRange(bmiRange);
}
void CurieIMUClass::autoCalibrateGyroOffset()
{
BMI160Class::autoCalibrateGyroOffset();
setGyroOffsetEnabled(true);
}
void CurieIMUClass::autoCalibrateAccelerometerOffset(int axis, int target)
{
switch (axis) {
case X_AXIS:
autoCalibrateXAccelOffset(target);
break;
case Y_AXIS:
autoCalibrateYAccelOffset(target);
break;
case Z_AXIS:
autoCalibrateZAccelOffset(target);
break;
default:
break;
}
setAccelOffsetEnabled(true);
}
void CurieIMUClass::noGyroOffset()
{
setGyroOffsetEnabled(false);
}
void CurieIMUClass::noAccelerometerOffset()
{
setAccelOffsetEnabled(false);
}
bool CurieIMUClass::gyroOffsetEnabled()
{
return getGyroOffsetEnabled();
}
bool CurieIMUClass::accelerometerOffsetEnabled()
{
return getAccelOffsetEnabled();
}
float CurieIMUClass::getGyroOffset(int axis)
{
int bmiOffset;
if (axis == X_AXIS) {
bmiOffset = getXGyroOffset();
} else if (axis == Y_AXIS) {
bmiOffset = getYGyroOffset();
} else if (axis == Z_AXIS) {
bmiOffset = getZGyroOffset();
} else {
return -1;
}
return (bmiOffset * 0.061);
}
float CurieIMUClass::getAccelerometerOffset(int axis)
{
int bmiOffset;
if (axis == X_AXIS) {
bmiOffset = getXAccelOffset();
} else if (axis == Y_AXIS) {
bmiOffset = getYAccelOffset();
} else if (axis == Z_AXIS) {
bmiOffset = getZAccelOffset();
} else {
return -1;
}
return (bmiOffset * 3.9);
}
void CurieIMUClass::setGyroOffset(int axis, float offset)
{
int bmiOffset = offset / 0.061;
if (bmiOffset < -512) {
bmiOffset = -512;
} else if (bmiOffset > 511) {
bmiOffset = 511;
}
if (axis == X_AXIS) {
setXGyroOffset(bmiOffset);
} else if (axis == Y_AXIS) {
setYGyroOffset(bmiOffset);
} else if (axis == Z_AXIS) {
setZGyroOffset(bmiOffset);
}
setGyroOffsetEnabled(true);
}
void CurieIMUClass::setAccelerometerOffset(int axis, float offset)
{
int bmiOffset = offset / 3.9;
if (bmiOffset < -128) {
bmiOffset = -128;
} else if (bmiOffset > 127) {
bmiOffset = 127;
}
if (axis == X_AXIS) {
setXAccelOffset(bmiOffset);
} else if (axis == Y_AXIS) {
setYAccelOffset(bmiOffset);
} else if (axis == Z_AXIS) {
setZAccelOffset(bmiOffset);
}
setAccelOffsetEnabled(true);
}
float CurieIMUClass::getDetectionThreshold(int feature)
{
switch (feature) {
case CURIE_IMU_FREEFALL:
return getFreefallDetectionThreshold();
case CURIE_IMU_SHOCK:
return getShockDetectionThreshold();
case CURIE_IMU_MOTION:
return getMotionDetectionThreshold();
case CURIE_IMU_ZERO_MOTION:
return getZeroMotionDetectionThreshold();
case CURIE_IMU_TAP:
return getTapDetectionThreshold();
case CURIE_IMU_STEP:
case CURIE_IMU_TAP_SHOCK:
case CURIE_IMU_TAP_QUIET:
case CURIE_IMU_DOUBLE_TAP:
case CURIE_IMU_FIFO_FULL:
case CURIE_IMU_DATA_READY:
default:
return -1;
}
}
void CurieIMUClass::setDetectionThreshold(int feature, float threshold)
{
switch (feature) {
case CURIE_IMU_FREEFALL:
setFreefallDetectionThreshold(threshold);
break;
case CURIE_IMU_SHOCK:
setShockDetectionThreshold(threshold);
break;
case CURIE_IMU_MOTION:
setMotionDetectionThreshold(threshold);
break;
case CURIE_IMU_ZERO_MOTION:
setZeroMotionDetectionThreshold(threshold);
break;
case CURIE_IMU_TAP:
setTapDetectionThreshold(threshold);
break;
case CURIE_IMU_STEP:
case CURIE_IMU_TAP_SHOCK:
case CURIE_IMU_TAP_QUIET:
case CURIE_IMU_DOUBLE_TAP:
case CURIE_IMU_FIFO_FULL:
case CURIE_IMU_DATA_READY:
default:
break;
}
}
float CurieIMUClass::getDetectionDuration(int feature)
{
switch (feature) {
case CURIE_IMU_FREEFALL:
return getFreefallDetectionDuration();
case CURIE_IMU_SHOCK:
return getShockDetectionDuration();
case CURIE_IMU_MOTION:
return getMotionDetectionDuration();
case CURIE_IMU_TAP_SHOCK:
return getTapShockDuration();
case CURIE_IMU_ZERO_MOTION:
return getZeroMotionDetectionDuration();
case CURIE_IMU_TAP_QUIET:
return getTapQuietDuration();
case CURIE_IMU_DOUBLE_TAP:
return getDoubleTapDetectionDuration();
case CURIE_IMU_TAP:
case CURIE_IMU_STEP:
case CURIE_IMU_FIFO_FULL:
case CURIE_IMU_DATA_READY:
default:
return -1;
}
}
float CurieIMUClass::getFreefallDetectionThreshold()
{
int bmiThreshold = BMI160Class::getFreefallDetectionThreshold();
return (bmiThreshold * 7.81) + 3.91;
}
void CurieIMUClass::setFreefallDetectionThreshold(float threshold)
{
int bmiThreshold = (threshold - 3.91) / 7.81;
if (bmiThreshold < 0) {
bmiThreshold = 0;
} else if (bmiThreshold > 255) {
bmiThreshold = 255;
}
BMI160Class::setFreefallDetectionThreshold(bmiThreshold);
}
float CurieIMUClass::getShockDetectionThreshold()
{
int bmiThreshold = BMI160Class::getShockDetectionThreshold();
float step;
float min;
switch (getAccelerometerRange()) {
case 2:
step = 7.81;
min = 3.91;
break;
case 4:
step = 15.63;
min = 7.81;
break;
case 8:
step = 31.25;
min = 15.63;
break;
case 16:
default:
step = 62.50;
min = 31.25;
break;
}
return (bmiThreshold * step) + min;
}
void CurieIMUClass::setShockDetectionThreshold(float threshold)
{
int bmiThreshold;
switch (getAccelerometerRange()) {
case 2:
bmiThreshold = (threshold - 3.91) / 7.81;
break;
case 4:
bmiThreshold = (threshold - 7.81) / 15.6;
break;
case 8:
bmiThreshold = (threshold - 15.63) / 31.25;
break;
case 16:
default:
bmiThreshold = (threshold - 31.25) / 62.50;
break;
}
if (bmiThreshold < 0) {
bmiThreshold = 0;
} else if (bmiThreshold > 255) {
bmiThreshold = 255;
}
BMI160Class::setShockDetectionThreshold(bmiThreshold);
}
float CurieIMUClass::getMotionDetectionThreshold()
{
int bmiThreshold = BMI160Class::getMotionDetectionThreshold();
float step;
switch (getAccelerometerRange()) {
case 2:
step = 3.91;
break;
case 4:
step = 7.81;
break;
case 8:
step = 15.63;
break;
case 16:
default:
step = 31.25;
break;
}
return (bmiThreshold * step);
}
void CurieIMUClass::setMotionDetectionThreshold(float threshold)
{
int bmiThreshold;
switch (getAccelerometerRange()) {
case 2:
bmiThreshold = threshold / 3.91;
break;
case 4:
bmiThreshold = threshold / 7.81;
break;
case 8:
bmiThreshold = threshold / 15.63;
break;
case 16:
default:
bmiThreshold = threshold / 31.25;
break;
}
if (bmiThreshold < 0) {
bmiThreshold = 0;
} else if (bmiThreshold > 255) {
bmiThreshold = 255;
}
BMI160Class::setMotionDetectionThreshold(bmiThreshold);
}
float CurieIMUClass::getZeroMotionDetectionThreshold()
{
int bmiThreshold = BMI160Class::getZeroMotionDetectionThreshold();
float step;
switch (getAccelerometerRange()) {
case 2:
step = 3.91;
break;
case 4:
step = 7.81;
break;
case 8:
step = 15.63;
break;
case 16:
default:
step = 31.25;
break;
}
return (bmiThreshold * step);
}
void CurieIMUClass::setZeroMotionDetectionThreshold(float threshold)
{
int bmiThreshold;
switch (getAccelerometerRange()) {
case 2:
bmiThreshold = threshold / 3.91;
break;
case 4:
bmiThreshold = threshold / 7.81;
break;
case 8:
bmiThreshold = threshold / 15.63;
break;
case 16:
default:
bmiThreshold = threshold / 31.25;
break;
}
if (bmiThreshold < 0) {
bmiThreshold = 0;
} else if (bmiThreshold > 255) {
bmiThreshold = 255;
}
BMI160Class::setZeroMotionDetectionThreshold(bmiThreshold);
}
float CurieIMUClass::getTapDetectionThreshold()
{
int bmiThreshold = BMI160Class::getTapDetectionThreshold();
float step;
float min;
switch (getAccelerometerRange()) {
case 2:
step = 62.5;
min = 31.25;
break;
case 4:
step = 125.0;
min = 62.5;
break;
case 8:
step = 250.0;
min = 125.0;
break;
case 16:
default:
step = 500.0;
min = 250.0;
break;
}
return (bmiThreshold * step) + min;
}
void CurieIMUClass::setTapDetectionThreshold(float threshold)
{
int bmiThreshold;
switch (getAccelerometerRange()) {
case 2:
bmiThreshold = (threshold - 31.25) / 62.5;
break;
case 4:
bmiThreshold = (threshold - 62.5) / 125.0;
break;
case 8:
bmiThreshold = (threshold - 125.0) / 250.0;
break;
case 16:
default:
bmiThreshold = (threshold - 2500) / 500.0;
break;
}
if (bmiThreshold < 0) {
bmiThreshold = 0;
} else if (bmiThreshold > 255) {
bmiThreshold = 255;
}
BMI160Class::setTapDetectionThreshold(bmiThreshold);
}
void CurieIMUClass::setDetectionDuration(int feature, float value)
{
switch (feature) {
case CURIE_IMU_FREEFALL:
setFreefallDetectionDuration(value);
break;
case CURIE_IMU_SHOCK:
setShockDetectionDuration(value);
break;
case CURIE_IMU_MOTION:
setMotionDetectionDuration(value);
break;
case CURIE_IMU_TAP_SHOCK:
setTapShockDuration(value);
break;
case CURIE_IMU_ZERO_MOTION:
setZeroMotionDetectionThreshold(value);
break;
case CURIE_IMU_TAP_QUIET:
setTapQuietDuration(value);
break;
case CURIE_IMU_DOUBLE_TAP:
setDoubleTapDetectionDuration(value);
break;
case CURIE_IMU_TAP:
case CURIE_IMU_STEP:
case CURIE_IMU_FIFO_FULL:
case CURIE_IMU_DATA_READY:
default:
break;
}
}
float CurieIMUClass::getFreefallDetectionDuration()
{
int bmiDuration = BMI160Class::getFreefallDetectionDuration();
return ((bmiDuration + 1) * 2.5);
}
void CurieIMUClass::setFreefallDetectionDuration(float duration)
{
int bmiDuration = (duration - 2.5) / 2.5;
if (bmiDuration < 0) {
bmiDuration = 0;
} else if (bmiDuration > 255) {
bmiDuration = 255;
}
BMI160Class::setFreefallDetectionDuration(bmiDuration);
}
int CurieIMUClass::getShockDetectionDuration()
{
int duration;
switch (BMI160Class::getShockDetectionDuration()) {
case BMI160_TAP_SHOCK_DURATION_50MS:
duration = 50;
break;
case BMI160_TAP_SHOCK_DURATION_75MS:
default:
duration = 75;
break;
}
return duration;
}
void CurieIMUClass::setShockDetectionDuration(int duration)
{
BMI160TapShockDuration bmiDuration;
if (duration <= 50) {
bmiDuration = BMI160_TAP_SHOCK_DURATION_50MS;
} else {
bmiDuration = BMI160_TAP_SHOCK_DURATION_75MS;
}
BMI160Class::setShockDetectionDuration(bmiDuration);
}
float CurieIMUClass::getMotionDetectionDuration()
{
int bmiDuration = BMI160Class::getMotionDetectionDuration();
return (bmiDuration / getAccelerometerRate());
}
void CurieIMUClass::setMotionDetectionDuration(float duration)
{
int bmiDuration = (duration * getAccelerometerRate());
if (bmiDuration < 1) {
bmiDuration = 1;
} else if (bmiDuration > 4) {
bmiDuration = 4;
}
BMI160Class::setMotionDetectionDuration(bmiDuration);
}
float CurieIMUClass::getZeroMotionDetectionDuration()
{
float duration;
switch (BMI160Class::getZeroMotionDetectionDuration()) {
case BMI160_ZERO_MOTION_DURATION_1_28S:
duration = 1.28;
break;
case BMI160_ZERO_MOTION_DURATION_2_56S:
duration = 2.56;
break;
case BMI160_ZERO_MOTION_DURATION_3_84S:
duration = 3.84;
break;
case BMI160_ZERO_MOTION_DURATION_5_12S:
duration = 5.12;
break;
case BMI160_ZERO_MOTION_DURATION_6_40S:
duration = 6.40;
break;
case BMI160_ZERO_MOTION_DURATION_7_68S:
duration = 7.68;
break;
case BMI160_ZERO_MOTION_DURATION_8_96S:
duration = 8.96;
break;
case BMI160_ZERO_MOTION_DURATION_10_24S:
duration = 10.24;
break;
case BMI160_ZERO_MOTION_DURATION_11_52S:
duration = 11.52;
break;
case BMI160_ZERO_MOTION_DURATION_12_80S:
duration = 12.80;
break;
case BMI160_ZERO_MOTION_DURATION_14_08S:
duration = 14.08;
break;
case BMI160_ZERO_MOTION_DURATION_15_36S:
duration = 15.36;
break;
case BMI160_ZERO_MOTION_DURATION_16_64S:
duration = 16.64;
break;
case BMI160_ZERO_MOTION_DURATION_17_92S:
duration = 17.92;
break;
case BMI160_ZERO_MOTION_DURATION_19_20S:
duration = 19.20;
break;
case BMI160_ZERO_MOTION_DURATION_20_48S:
duration = 20.48;
break;
case BMI160_ZERO_MOTION_DURATION_25_60S:
duration = 25.60;
break;
case BMI160_ZERO_MOTION_DURATION_30_72S:
duration = 30.72;
break;
case BMI160_ZERO_MOTION_DURATION_35_84S:
duration = 35.84;
break;
case BMI160_ZERO_MOTION_DURATION_40_96S:
duration = 40.96;
break;
case BMI160_ZERO_MOTION_DURATION_46_08S:
duration = 46.08;
break;
case BMI160_ZERO_MOTION_DURATION_51_20S:
duration = 51.20;
break;
case BMI160_ZERO_MOTION_DURATION_56_32S:
duration = 56.32;
break;
case BMI160_ZERO_MOTION_DURATION_61_44S:
duration = 61.44;
break;
case BMI160_ZERO_MOTION_DURATION_66_56S:
duration = 66.56;
break;
case BMI160_ZERO_MOTION_DURATION_71_68S:
duration = 71.68;
break;