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imu_driver.go
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/
imu_driver.go
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package curie
import (
"errors"
"gobot.io/x/gobot"
"gobot.io/x/gobot/platforms/firmata"
)
const (
CURIE_IMU = 0x11
CURIE_IMU_READ_ACCEL = 0x00
CURIE_IMU_READ_GYRO = 0x01
CURIE_IMU_READ_TEMP = 0x02
CURIE_IMU_SHOCK_DETECT = 0x03
CURIE_IMU_STEP_COUNTER = 0x04
CURIE_IMU_TAP_DETECT = 0x05
CURIE_IMU_READ_MOTION = 0x06
)
// AccelerometerData is what gets returned with the "Accelerometer" event.
type AccelerometerData struct {
X int16
Y int16
Z int16
}
// GyroscopeData is what gets returned with the "Gyroscope" event.
type GyroscopeData struct {
X int16
Y int16
Z int16
}
// ShockData is what gets returned with the "Shock" event.
type ShockData struct {
Axis byte
Direction byte
}
// TapData is what gets returned with the "Tap" event.
type TapData struct {
Axis byte
Direction byte
}
// MotionData is what gets returned with the "Motion" event.
type MotionData struct {
AX int16
AY int16
AZ int16
GX int16
GY int16
GZ int16
}
// IMUDriver represents the IMU that is built-in to the Curie
type IMUDriver struct {
name string
connection *firmata.Adaptor
gobot.Eventer
}
// NewIMUDriver returns a new IMUDriver
func NewIMUDriver(a *firmata.Adaptor) *IMUDriver {
imu := &IMUDriver{
name: gobot.DefaultName("CurieIMU"),
connection: a,
Eventer: gobot.NewEventer(),
}
return imu
}
// Start starts up the IMUDriver
func (imu *IMUDriver) Start() (err error) {
imu.connection.On("SysexResponse", func(res interface{}) {
data := res.([]byte)
imu.handleEvent(data)
})
return
}
// Halt stops the IMUDriver
func (imu *IMUDriver) Halt() (err error) {
return
}
// Name returns the IMUDriver's name
func (imu *IMUDriver) Name() string { return imu.name }
// SetName sets the IMUDriver'ss name
func (imu *IMUDriver) SetName(n string) { imu.name = n }
// Connection returns the IMUDriver's Connection
func (imu *IMUDriver) Connection() gobot.Connection { return imu.connection }
// ReadAccelerometer calls the Curie's built-in accelerometer. The result will
// be returned by the Sysex response message
func (imu *IMUDriver) ReadAccelerometer() error {
return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_READ_ACCEL})
}
// ReadGyroscope calls the Curie's built-in gyroscope. The result will
// be returned by the Sysex response message
func (imu *IMUDriver) ReadGyroscope() error {
return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_READ_GYRO})
}
// ReadTemperature calls the Curie's built-in temperature sensor.
// The result will be returned by the Sysex response message
func (imu *IMUDriver) ReadTemperature() error {
return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_READ_TEMP})
}
// EnableShockDetection turns on/off the Curie's built-in shock detection.
// The result will be returned by the Sysex response message
func (imu *IMUDriver) EnableShockDetection(detect bool) error {
var d byte
if detect {
d = 1
}
return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_SHOCK_DETECT, d})
}
// EnableStepCounter turns on/off the Curie's built-in step counter.
// The result will be returned by the Sysex response message
func (imu *IMUDriver) EnableStepCounter(count bool) error {
var c byte
if count {
c = 1
}
return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_STEP_COUNTER, c})
}
// EnableTapDetection turns on/off the Curie's built-in tap detection.
// The result will be returned by the Sysex response message
func (imu *IMUDriver) EnableTapDetection(detect bool) error {
var d byte
if detect {
d = 1
}
return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_TAP_DETECT, d})
}
// ReadMotion calls the Curie's built-in accelerometer & gyroscope.
// The result will be returned by the Sysex response message
func (imu *IMUDriver) ReadMotion() error {
return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_READ_MOTION})
}
func (imu *IMUDriver) handleEvent(data []byte) (err error) {
if data[1] == CURIE_IMU {
switch data[2] {
case CURIE_IMU_READ_ACCEL:
val, err := parseAccelerometerData(data)
if err == nil {
imu.Publish("Accelerometer", val)
}
case CURIE_IMU_READ_GYRO:
val, err := parseGyroscopeData(data)
if err == nil {
imu.Publish("Gyroscope", val)
}
case CURIE_IMU_READ_TEMP:
val, err := parseTemperatureData(data)
if err == nil {
imu.Publish("Temperature", val)
}
case CURIE_IMU_SHOCK_DETECT:
val, err := parseShockData(data)
if err == nil {
imu.Publish("Shock", val)
}
case CURIE_IMU_STEP_COUNTER:
val, err := parseStepData(data)
if err == nil {
imu.Publish("Steps", val)
}
case CURIE_IMU_TAP_DETECT:
val, err := parseTapData(data)
if err == nil {
imu.Publish("Tap", val)
}
case CURIE_IMU_READ_MOTION:
val, err := parseMotionData(data)
if err == nil {
imu.Publish("Motion", val)
}
}
}
return
}
func parseAccelerometerData(data []byte) (*AccelerometerData, error) {
if len(data) < 9 {
return nil, errors.New("Invalid data")
}
x := int16(uint16(data[3]) | uint16(data[4])<<7)
y := int16(uint16(data[5]) | uint16(data[6])<<7)
z := int16(uint16(data[7]) | uint16(data[8])<<7)
res := &AccelerometerData{X: x, Y: y, Z: z}
return res, nil
}
func parseGyroscopeData(data []byte) (*GyroscopeData, error) {
if len(data) < 9 {
return nil, errors.New("Invalid data")
}
x := int16(uint16(data[3]) | uint16(data[4])<<7)
y := int16(uint16(data[5]) | uint16(data[6])<<7)
z := int16(uint16(data[7]) | uint16(data[8])<<7)
res := &GyroscopeData{X: x, Y: y, Z: z}
return res, nil
}
func parseTemperatureData(data []byte) (float32, error) {
if len(data) < 8 {
return 0, errors.New("Invalid data")
}
t1 := int16(uint16(data[3]) | uint16(data[4])<<7)
t2 := int16(uint16(data[5]) | uint16(data[6])<<7)
res := (float32(t1+(t2*8)) / 512.0) + 23.0
return res, nil
}
func parseShockData(data []byte) (*ShockData, error) {
if len(data) < 6 {
return nil, errors.New("Invalid data")
}
res := &ShockData{Axis: data[3], Direction: data[4]}
return res, nil
}
func parseStepData(data []byte) (int16, error) {
if len(data) < 6 {
return 0, errors.New("Invalid data")
}
res := int16(uint16(data[3]) | uint16(data[4])<<7)
return res, nil
}
func parseTapData(data []byte) (*TapData, error) {
if len(data) < 6 {
return nil, errors.New("Invalid data")
}
res := &TapData{Axis: data[3], Direction: data[4]}
return res, nil
}
func parseMotionData(data []byte) (*MotionData, error) {
if len(data) < 16 {
return nil, errors.New("Invalid data")
}
ax := int16(uint16(data[3]) | uint16(data[4])<<7)
ay := int16(uint16(data[5]) | uint16(data[6])<<7)
az := int16(uint16(data[7]) | uint16(data[8])<<7)
gx := int16(uint16(data[9]) | uint16(data[10])<<7)
gy := int16(uint16(data[11]) | uint16(data[12])<<7)
gz := int16(uint16(data[13]) | uint16(data[14])<<7)
res := &MotionData{AX: ax, AY: ay, AZ: az, GX: gx, GY: gy, GZ: gz}
return res, nil
}