JA-115 Shimmer 3r

ShimmerDriver/src/main/java/com/shimmerresearch/algorithms/AlgorithmDetails.java

@@ -130,6 +130,22 @@ public AlgorithmDetails(
 		mListOfChannelDetails = listOfAlgortihmChannels;
 	}
 
+	public AlgorithmDetails(
+			String objectClusterName, 
+			String guiFriendlyName, 
+			List<String> listOfAssociatedSensorChannels, 
+			long derivedSensorBitmapId, 
+			List<Integer> listOfRequiredSensors, 
+			String units,
+			SENSOR_CHECK_METHOD sensorCheckMethod,
+			List<ChannelDetails> listOfAlgortihmChannels){
+		this(objectClusterName, guiFriendlyName, listOfAssociatedSensorChannels, derivedSensorBitmapId, listOfRequiredSensors, units);
+		mSensorCheckMethod = sensorCheckMethod;
+		//2016-11-28 MN changed below to override mListOfChannelDetails as this() above attempts to create one from this class
+//		mListOfChannelDetails.addAll(listOfAlgortihmChannels);
+		mListOfChannelDetails = listOfAlgortihmChannels;
+	}
+
 	/** Just used in PPGtoHR
 	 * @param objectClusterName
 	 * @param guiFriendlyName

ShimmerDriver/src/main/java/com/shimmerresearch/algorithms/gyroOnTheFlyCal/GyroOnTheFlyCalModule.java

@@ -62,7 +62,8 @@ public static final class DatabaseConfigHandle{
 	// -------------------  Static Algorithm map start -----------------------
 	public static final AlgorithmDetails algoGyroOnTheFlyCal = new AlgorithmDetails(
 			Arrays.asList(//Configuration.Shimmer2.SENSOR_ID.GYRO,
-					Configuration.Shimmer3.SENSOR_ID.SHIMMER_MPU9X50_GYRO),
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_MPU9X50_GYRO,
+			Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM6DSV_GYRO),
 			CHANNEL_UNITS.NO_UNITS,
 			SENSOR_CHECK_METHOD.ANY);
 	{

ShimmerDriver/src/main/java/com/shimmerresearch/algorithms/orientation/OrientationModule6DOF.java

@@ -8,6 +8,7 @@
 import java.util.Map;
 
 import com.shimmerresearch.algorithms.AlgorithmDetails;
+import com.shimmerresearch.algorithms.AlgorithmDetails.SENSOR_CHECK_METHOD;
 import com.shimmerresearch.driver.Configuration;
 import com.shimmerresearch.driver.ObjectCluster;
 import com.shimmerresearch.driver.ShimmerDevice;
@@ -289,8 +290,11 @@ public static class DatabaseChannelHandles{
 					Configuration.Shimmer3.ObjectClusterSensorName.GYRO_Z),
 			(DerivedSensorsBitMask.ORIENTATION_6DOF_LN_QUAT|DerivedSensorsBitMask.ORIENTATION_6DOF_LN_EULER), 
 			Arrays.asList(Configuration.Shimmer3.SENSOR_ID.SHIMMER_ANALOG_ACCEL,
-					Configuration.Shimmer3.SENSOR_ID.SHIMMER_MPU9X50_GYRO),
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_MPU9X50_GYRO,
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM6DSV_ACCEL_LN,
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM6DSV_GYRO),
 					CHANNEL_UNITS.NO_UNITS,
+					SENSOR_CHECK_METHOD.ANY,
 					listChannelsEuler6DOF_LN);
 
 	public static final AlgorithmDetails algo6DoFOrientation_WR_Acc = new AlgorithmDetails(
@@ -304,8 +308,11 @@ public static class DatabaseChannelHandles{
 					Configuration.Shimmer3.ObjectClusterSensorName.GYRO_Z),
 			(DerivedSensorsBitMask.ORIENTATION_6DOF_WR_QUAT|DerivedSensorsBitMask.ORIENTATION_6DOF_WR_EULER), 
 			Arrays.asList(Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM303_ACCEL,
-					Configuration.Shimmer3.SENSOR_ID.SHIMMER_MPU9X50_GYRO),
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_MPU9X50_GYRO,
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LIS2DW12_ACCEL_WR,
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM6DSV_GYRO),
 					CHANNEL_UNITS.NO_UNITS,
+					SENSOR_CHECK_METHOD.ANY,
 					listChannelsQuat6DOF_WR);
 
 	public static final Map<String, AlgorithmDetails> mAlgorithmMapRef;

ShimmerDriver/src/main/java/com/shimmerresearch/algorithms/orientation/OrientationModule6DOFLoader.java

@@ -1,49 +1,49 @@
-package com.shimmerresearch.algorithms.orientation;
-
-import java.util.LinkedHashMap;
-
-import com.shimmerresearch.algorithms.AlgorithmDetails;
-import com.shimmerresearch.algorithms.AlgorithmLoaderInterface;
-import com.shimmerresearch.driver.ShimmerDevice;
-import com.shimmerresearch.driver.Configuration.COMMUNICATION_TYPE;
-import com.shimmerresearch.driverUtilities.ExpansionBoardDetails;
-import com.shimmerresearch.driverUtilities.ShimmerVerDetails.FW_ID;
-import com.shimmerresearch.driverUtilities.ShimmerVerObject;
-
-public class OrientationModule6DOFLoader implements AlgorithmLoaderInterface {
-
-	@Override
-	public LinkedHashMap<String, AlgorithmDetails> getMapOfSupportedAlgorithms(ShimmerDevice shimmerDevice) {
-		ShimmerVerObject svo = shimmerDevice.getShimmerVerObject();
-		ExpansionBoardDetails eBD = shimmerDevice.getExpansionBoardDetails();
-		
-		LinkedHashMap<String, AlgorithmDetails> mapOfSupportedAlgorithms = new LinkedHashMap<String, AlgorithmDetails>();
-		
-		if(svo.getFirmwareIdentifier()==FW_ID.STROKARE){
-//			mapOfSupportedAlgorithms.put(OrientationModule6DOF.algo6DoFOrientation_WR_Acc.mAlgorithmName, OrientationModule6DOF.algo6DoFOrientation_WR_Acc);
-		}
-		else {
-			if((svo.isShimmerGen3() || svo.isShimmerGen4())){
-//				mapOfSupportedAlgorithms.putAll(OrientationModule6DOF.mAlgorithmMapRef);
-				mapOfSupportedAlgorithms = AlgorithmDetails.loadAlgorithmsWhereSensorsAreAvailable(shimmerDevice, OrientationModule6DOF.mAlgorithmMapRef);
-			}
-		}
-		
-		return mapOfSupportedAlgorithms;
-	}
-
-	@Override
-	public void initialiseSupportedAlgorithms(ShimmerDevice shimmerDevice, COMMUNICATION_TYPE comType) {
-//		shimmerDevice.getSensorMap().containsKey(key)
-		
-		LinkedHashMap<String, AlgorithmDetails> mapOfSupported6DOFCh = getMapOfSupportedAlgorithms(shimmerDevice);
-		for (AlgorithmDetails algorithmDetails:mapOfSupported6DOFCh.values()) {
-			OrientationModule6DOF orientationModule6DOF = new OrientationModule6DOF(shimmerDevice, algorithmDetails, shimmerDevice.getSamplingRateShimmer(COMMUNICATION_TYPE.BLUETOOTH));
-			
-			//TODO load any default settings here
-			
-			shimmerDevice.addAlgorithmModule(orientationModule6DOF);
-		}
-	}
-
-}
+package com.shimmerresearch.algorithms.orientation;
+
+import java.util.LinkedHashMap;
+
+import com.shimmerresearch.algorithms.AlgorithmDetails;
+import com.shimmerresearch.algorithms.AlgorithmLoaderInterface;
+import com.shimmerresearch.driver.ShimmerDevice;
+import com.shimmerresearch.driver.Configuration.COMMUNICATION_TYPE;
+import com.shimmerresearch.driverUtilities.ExpansionBoardDetails;
+import com.shimmerresearch.driverUtilities.ShimmerVerDetails.FW_ID;
+import com.shimmerresearch.driverUtilities.ShimmerVerObject;
+
+public class OrientationModule6DOFLoader implements AlgorithmLoaderInterface {
+
+	@Override
+	public LinkedHashMap<String, AlgorithmDetails> getMapOfSupportedAlgorithms(ShimmerDevice shimmerDevice) {
+		ShimmerVerObject svo = shimmerDevice.getShimmerVerObject();
+		ExpansionBoardDetails eBD = shimmerDevice.getExpansionBoardDetails();
+
+		LinkedHashMap<String, AlgorithmDetails> mapOfSupportedAlgorithms = new LinkedHashMap<String, AlgorithmDetails>();
+
+		if(svo.getFirmwareIdentifier()==FW_ID.STROKARE){
+//			mapOfSupportedAlgorithms.put(OrientationModule6DOF.algo6DoFOrientation_WR_Acc.mAlgorithmName, OrientationModule6DOF.algo6DoFOrientation_WR_Acc);
+		}
+		else {
+			if((svo.isShimmerGen3() || svo.isShimmerGen3R() || svo.isShimmerGen4())){
+				mapOfSupportedAlgorithms = AlgorithmDetails.loadAlgorithmsWhereSensorsAreAvailable(shimmerDevice, OrientationModule6DOF.mAlgorithmMapRef);
+
+			}
+		}
+
+		return mapOfSupportedAlgorithms;
+	}
+
+	@Override
+	public void initialiseSupportedAlgorithms(ShimmerDevice shimmerDevice, COMMUNICATION_TYPE comType) {
+//		shimmerDevice.getSensorMap().containsKey(key)
+
+		LinkedHashMap<String, AlgorithmDetails> mapOfSupported6DOFCh = getMapOfSupportedAlgorithms(shimmerDevice);
+		for (AlgorithmDetails algorithmDetails:mapOfSupported6DOFCh.values()) {
+			OrientationModule6DOF orientationModule6DOF = new OrientationModule6DOF(shimmerDevice, algorithmDetails, shimmerDevice.getSamplingRateShimmer(COMMUNICATION_TYPE.BLUETOOTH));
+
+			//TODO load any default settings here
+
+			shimmerDevice.addAlgorithmModule(orientationModule6DOF);
+		}
+	}
+
+}

ShimmerDriver/src/main/java/com/shimmerresearch/algorithms/orientation/OrientationModule9DOF.java

@@ -8,6 +8,7 @@
 import java.util.Map;
 
 import com.shimmerresearch.algorithms.AlgorithmDetails;
+import com.shimmerresearch.algorithms.AlgorithmDetails.SENSOR_CHECK_METHOD;
 import com.shimmerresearch.driver.Configuration;
 import com.shimmerresearch.driver.ObjectCluster;
 import com.shimmerresearch.driver.ShimmerDevice;
@@ -291,8 +292,12 @@ public static class DatabaseChannelHandles{
 			(DerivedSensorsBitMask.ORIENTATION_9DOF_LN_QUAT|DerivedSensorsBitMask.ORIENTATION_9DOF_LN_EULER), 
 			Arrays.asList(Configuration.Shimmer3.SENSOR_ID.SHIMMER_ANALOG_ACCEL,
 					Configuration.Shimmer3.SENSOR_ID.SHIMMER_MPU9X50_GYRO,
-					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM303_MAG),
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM303_MAG,
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM6DSV_ACCEL_LN,
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM6DSV_GYRO,
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LIS3MDL_MAG),
 					CHANNEL_UNITS.NO_UNITS,
+					SENSOR_CHECK_METHOD.ANY,
 					listChannelsEuler9DOF_LN);
 
 	public static final AlgorithmDetails algo9DoFOrientation_WR_Acc = new AlgorithmDetails(
@@ -310,8 +315,12 @@ public static class DatabaseChannelHandles{
 			(DerivedSensorsBitMask.ORIENTATION_9DOF_WR_QUAT|DerivedSensorsBitMask.ORIENTATION_9DOF_WR_EULER), 
 			Arrays.asList(Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM303_ACCEL,
 					Configuration.Shimmer3.SENSOR_ID.SHIMMER_MPU9X50_GYRO,
-					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM303_MAG),
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM303_MAG,
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LIS2DW12_ACCEL_WR,
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LSM6DSV_GYRO,
+					Configuration.Shimmer3.SENSOR_ID.SHIMMER_LIS3MDL_MAG),
 					CHANNEL_UNITS.NO_UNITS,
+					SENSOR_CHECK_METHOD.ANY,
 					listChannelsQuat9DOF_WR);
 
 

ShimmerDriver/src/main/java/com/shimmerresearch/algorithms/orientation/OrientationModule9DOFLoader.java

@@ -23,9 +23,10 @@ public LinkedHashMap<String, AlgorithmDetails> getMapOfSupportedAlgorithms(Shimm
 			mapOfSupportedAlgorithms.put(OrientationModule9DOF.algo9DoFOrientation_WR_Acc.mAlgorithmName, OrientationModule9DOF.algo9DoFOrientation_WR_Acc);
 		}
 		else {
-			if(svo.isShimmerGen3() || svo.isShimmerGen4()){
-//				mapOfSupportedAlgorithms.putAll(OrientationModule9DOF.mAlgorithmMapRef);
+			if(svo.isShimmerGen3() || svo.isShimmerGen3R() || svo.isShimmerGen4()){
+
 				mapOfSupportedAlgorithms = AlgorithmDetails.loadAlgorithmsWhereSensorsAreAvailable(shimmerDevice, OrientationModule9DOF.mAlgorithmMapRef);
+
 			}
 		}
 

ShimmerDriver/src/main/java/com/shimmerresearch/bluetooth/ShimmerBluetooth.java

@@ -118,6 +118,7 @@
 import com.shimmerresearch.driver.ObjectCluster;
 import com.shimmerresearch.driver.ShimmerDevice;
 import com.shimmerresearch.exgConfig.ExGConfigOptionDetails.EXG_CHIP_INDEX;
+import com.shimmerresearch.sensors.AbstractSensor.SENSORS;
 import com.shimmerresearch.sensors.SensorGSR;
 import com.shimmerresearch.sensors.SensorSystemTimeStamp;
 import com.shimmerresearch.sensors.bmpX80.SensorBMPX80;
@@ -335,6 +336,7 @@ public int getNumCrcBytes() {
         aMap.put(GET_BMP180_PRES_CALIBRATION_COMMAND, new BtCommandDetails(GET_BMP180_PRES_CALIBRATION_COMMAND, "GET_BMP180_PRES_CALIBRATION_COMMAND", BMP180_PRES_CALIBRATION_RESPONSE));
         aMap.put(GET_BMP180_CALIBRATION_COEFFICIENTS_COMMAND, new BtCommandDetails(GET_BMP180_CALIBRATION_COEFFICIENTS_COMMAND, "GET_BMP180_CALIBRATION_COEFFICIENTS_COMMAND", BMP180_CALIBRATION_COEFFICIENTS_RESPONSE));
         aMap.put(GET_BMP280_CALIBRATION_COEFFICIENTS_COMMAND, new BtCommandDetails(GET_BMP280_CALIBRATION_COEFFICIENTS_COMMAND, "GET_BMP280_CALIBRATION_COEFFICIENTS_COMMAND", BMP280_CALIBRATION_COEFFICIENTS_RESPONSE));
+        aMap.put(GET_PRESSURE_CALIBRATION_COEFFICIENTS_COMMAND, new BtCommandDetails(GET_PRESSURE_CALIBRATION_COEFFICIENTS_COMMAND, "GET_PRESSURE_CALIBRATION_COEFFICIENTS_COMMAND", PRESSURE_CALIBRATION_COEFFICIENTS_RESPONSE));
         aMap.put(GET_MPU9150_MAG_SENS_ADJ_VALS_COMMAND, new BtCommandDetails(GET_MPU9150_MAG_SENS_ADJ_VALS_COMMAND, "GET_MPU9150_MAG_SENS_ADJ_VALS_COMMAND", MPU9150_MAG_SENS_ADJ_VALS_RESPONSE));
         aMap.put(GET_INTERNAL_EXP_POWER_ENABLE_COMMAND, new BtCommandDetails(GET_INTERNAL_EXP_POWER_ENABLE_COMMAND, "GET_INTERNAL_EXP_POWER_ENABLE_COMMAND", INTERNAL_EXP_POWER_ENABLE_RESPONSE));
         aMap.put(GET_EXG_REGS_COMMAND,			new BtCommandDetails(GET_EXG_REGS_COMMAND, "GET_EXG_REGS_COMMAND", EXG_REGS_RESPONSE));
@@ -453,6 +455,7 @@ public int getNumCrcBytes() {
         aMap.put(BMP180_PRES_CALIBRATION_RESPONSE, new BtCommandDetails(BMP180_PRES_CALIBRATION_RESPONSE, "BMP180_PRES_CALIBRATION_RESPONSE", -1)); // Unhandled //TODO RS
         aMap.put(BMP180_CALIBRATION_COEFFICIENTS_RESPONSE, new BtCommandDetails(BMP180_CALIBRATION_COEFFICIENTS_RESPONSE, "BMP180_CALIBRATION_COEFFICIENTS_RESPONSE", 22));
         aMap.put(BMP280_CALIBRATION_COEFFICIENTS_RESPONSE, new BtCommandDetails(BMP280_CALIBRATION_COEFFICIENTS_RESPONSE, "BMP280_CALIBRATION_COEFFICIENTS_RESPONSE", 24));
+        aMap.put(PRESSURE_CALIBRATION_COEFFICIENTS_RESPONSE, new BtCommandDetails(PRESSURE_CALIBRATION_COEFFICIENTS_RESPONSE, "PRESSURE_CALIBRATION_COEFFICIENTS_RESPONSE", 21));
         aMap.put(MPU9150_MAG_SENS_ADJ_VALS_RESPONSE, new BtCommandDetails(MPU9150_MAG_SENS_ADJ_VALS_RESPONSE, "MPU9150_MAG_SENS_ADJ_VALS_RESPONSE", -1)); // Unhandled
         aMap.put(INTERNAL_EXP_POWER_ENABLE_RESPONSE, new BtCommandDetails(INTERNAL_EXP_POWER_ENABLE_RESPONSE, "INTERNAL_EXP_POWER_ENABLE_RESPONSE", 1)); 
         aMap.put(EXG_REGS_RESPONSE, 			new BtCommandDetails(EXG_REGS_RESPONSE, "EXG_REGS_RESPONSE", 11));
@@ -1314,7 +1317,11 @@ private void processResponseCommand(byte responseCommand) {
 			if(mShimmerVerObject.isShimmerGen2()) {
 				lengthSettings = 5;
 				idxLengthChannels = 3;
+			}else if(mShimmerVerObject.isShimmerGen3R()) {
+				lengthSettings = 11;
+				idxLengthChannels = 9;
 			}
+
         	// get Sampling rate, accel range, config setup byte0, num chans and buffer size
 			byte[] settings = readBytes(lengthSettings, responseCommand);
 			if(settings!=null){
@@ -1553,6 +1560,27 @@ else if(responseCommand==BMP280_CALIBRATION_COEFFICIENTS_RESPONSE){
 				retrievePressureCalibrationParametersFromPacket(pressureResoRes,CALIB_READ_SOURCE.LEGACY_BT_COMMAND);
 				printLogDataForDebugging("BMP280 CALIB Received:\t" + UtilShimmer.bytesToHexStringWithSpacesFormatted(pressureResoRes));
 			}
+		} else if(responseCommand==PRESSURE_CALIBRATION_COEFFICIENTS_RESPONSE){
+			byte[] pressureResoRes = null;
+			byte[] filteredByteArray = null;
+			if(mSensorBMPX80.mSensorType.equals(SENSORS.BMP390)){
+				pressureResoRes = new byte[23]; //21 bytes + 2
+				pressureResoRes = readBytes(23, responseCommand);
+				printLogDataForDebugging("BMP390 CALIB Received:\t" + UtilShimmer.bytesToHexStringWithSpacesFormatted(pressureResoRes));
+			}else if(mSensorBMPX80.mSensorType.equals(SENSORS.BMP280)){
+				pressureResoRes = new byte[26]; //24 bytes + 2
+				pressureResoRes = readBytes(26, responseCommand);
+				printLogDataForDebugging("BMP280 CALIB Received:\t" + UtilShimmer.bytesToHexStringWithSpacesFormatted(pressureResoRes));
+			}else if(mSensorBMPX80.mSensorType.equals(SENSORS.BMP180)){
+				pressureResoRes = new byte[24]; //22 bytes + 2
+				pressureResoRes = readBytes(24, responseCommand);
+				printLogDataForDebugging("BMP180 CALIB Received:\t" + UtilShimmer.bytesToHexStringWithSpacesFormatted(pressureResoRes));
+			}
+
+			if(pressureResoRes!=null){
+				filteredByteArray = Arrays.copyOfRange(pressureResoRes, 2, pressureResoRes.length);
+				retrievePressureCalibrationParametersFromPacket(filteredByteArray,CALIB_READ_SOURCE.LEGACY_BT_COMMAND);
+			}
 		} 
 		else if(responseCommand==EXG_REGS_RESPONSE){
 			delayForBtResponse(300); // Wait to ensure the packet has been fully received
@@ -3342,7 +3370,9 @@ public void readShimmerVersionNew() {
 
 	public void readPressureCalibrationCoefficients() {
 		if(getHardwareVersion()==HW_ID.SHIMMER_3){
-			if(getFirmwareVersionCode()>1){
+			if(getFirmwareVersionCode()>=9){
+				writeInstruction(GET_PRESSURE_CALIBRATION_COEFFICIENTS_COMMAND);
+			}else if(getFirmwareVersionCode()>1){
 				if(isSupportedBmp280()){
 //					writeInstruction(InstructionsGet.GET_BMP280_CALIBRATION_COEFFICIENTS_COMMAND_VALUE);
 //					writeInstruction(LiteProtocol.Temp.InstructionsGet.GET_BMP280_CALIBRATION_COEFFICIENTS_COMMAND);
@@ -3352,6 +3382,8 @@ public void readPressureCalibrationCoefficients() {
 					writeInstruction(GET_BMP180_CALIBRATION_COEFFICIENTS_COMMAND);
 				}
 			}
+		}else if(getHardwareVersion()==HW_ID.SHIMMER_3R) {
+			writeInstruction(GET_PRESSURE_CALIBRATION_COEFFICIENTS_COMMAND);
 		}
 	}
 
@@ -3413,7 +3445,8 @@ public void readBtFwVersion() {
 	 * @param rate it is a value between 0 and 255; 6 = 1152Hz, 77 = 102.56Hz, 255 = 31.25Hz
 	 */
 	public void writeGyroSamplingRate(int rate) {
-		if(getHardwareVersion()==HW_ID.SHIMMER_3){
+		if(getHardwareVersion()==HW_ID.SHIMMER_3
+				|| getHardwareVersion()==HW_ID.SHIMMER_3R){
 			mTempIntValue=rate;
 			writeInstruction(new byte[]{SET_MPU9150_SAMPLING_RATE_COMMAND, (byte)rate});
 		}
@@ -3575,7 +3608,8 @@ public void readAccelSamplingRate() {
 	 * @param rate it is a value between 1 and 7; 1 = 1 Hz; 2 = 10 Hz; 3 = 25 Hz; 4 = 50 Hz; 5 = 100 Hz; 6 = 200 Hz; 7 = 400 Hz
 	 */
 	public void writeAccelSamplingRate(int rate) {
-		if(getHardwareVersion()==HW_ID.SHIMMER_3){
+		if(getHardwareVersion()==HW_ID.SHIMMER_3
+				|| getHardwareVersion()==HW_ID.SHIMMER_3R){
 			mTempIntValue=rate;
 			writeInstruction(new byte[]{SET_ACCEL_SAMPLING_RATE_COMMAND, (byte)rate});
 		}
@@ -3926,7 +3960,7 @@ public void readGyroRange() {
 	 * @param range is a numeric value defining the desired gyroscope range. 
 	 */
 	public void writeGyroRange(int range) {
-		if(getHardwareVersion()==HW_ID.SHIMMER_3){
+		if(getHardwareVersion()==HW_ID.SHIMMER_3 || getHardwareVersion()==HW_ID.SHIMMER_3R){
 			writeInstruction(new byte[]{SET_MPU9150_GYRO_RANGE_COMMAND, (byte)range});
 			setGyroRange((int)range);
 		}
@@ -3964,11 +3998,22 @@ public void writeShimmerAndSensorsSamplingRate(double rate) {
 				int samplingByteValue = (int) (1024/getSamplingRateShimmer()); //the equivalent hex setting
 				writeInstruction(new byte[]{SET_SAMPLING_RATE_COMMAND, (byte)Math.rint(samplingByteValue), 0x00});
 			} 
-			else if(getHardwareVersion()==HW_ID.SHIMMER_3) {
+			else if(getHardwareVersion()==HW_ID.SHIMMER_3
+					|| getHardwareVersion()==HW_ID.SHIMMER_3R) {
 
 				writeMagSamplingRate(getMagRate());
-				writeAccelSamplingRate(getLSM303DigitalAccelRate());
-				writeGyroSamplingRate(getMPU9X50GyroAccelRate());
+				try {
+					writeAccelSamplingRate(getWRAccelRate());
+				} catch (Exception e) {
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+				}
+				try {
+					writeGyroSamplingRate(getGyroRate());
+				} catch (Exception e) {
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+				}
 				writeExgSamplingRate(rate);
 
 				byte[] buf = convertSamplingRateFreqToBytes(getSamplingRateShimmer(), getSamplingClockFreq());