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89 lines (69 loc) · 2.31 KB
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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
*/
/*
This sketch example demonstrates how the BMI160 on the
Intel(R) Curie(TM) module can be used to read accelerometer data
*/
#include "CurieIMU.h"
#include "bleaccel.h"
void setup()
{
Serial.begin(9600); // initialize Serial communication
while (!Serial); // wait for the serial port to open
// initialize device
Serial.println("Initializing IMU device...");
CurieIMU.begin();
initAccelBLE();
}
void loop()
{
int axRaw, ayRaw, azRaw; // raw accelerometer values
float ax, ay, az;
if( getCongfig() && isConnected())
{
CurieIMU.setAccelerometerRange(getCongfig());
CurieIMU.readAccelerometer(axRaw, ayRaw, azRaw);
// convert the raw accelerometer data to G's
ax = convertRawAcceleration(axRaw);
ay = convertRawAcceleration(ayRaw);
az = convertRawAcceleration(azRaw);
Serial.print("a:\t");
Serial.print(axRaw);
Serial.print("\t");
Serial.print(ayRaw);
Serial.print("\t");
Serial.print(azRaw);
Serial.println();
// Send to BLE
setAccelData(axRaw, ayRaw, azRaw);
/*
Serial.print("a:\t");
Serial.print(ax);
Serial.print("\t");
Serial.print(ay);
Serial.print("\t");
Serial.print(az);
Serial.println();
*/
delay(getPeriod());
}
}
float convertRawAcceleration(int aRaw) {
// since we are using 2G range
// -2g maps to a raw value of -32768
// +2g maps to a raw value of 32767
float a = (aRaw * 2.0) / 32768.0;
return a;
}