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feat: make library compatible with Nano 33 BLE Sense rev2 #16

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feat: make library compatible with Nano 33 BLE Sense rev2 #16

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10 changes: 7 additions & 3 deletions examples/magic_wand/imu_provider.h
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,10 @@
#define MAGIC_WAND_IMU_PROVIDER_H

#include <Arduino_LSM9DS1.h>
#ifdef NANO33_BLE_REV2
#include <Arduino_BMI270_BMM150.h>
#endif

#include <ArduinoBLE.h>

namespace {
Expand Down Expand Up @@ -60,15 +64,15 @@ namespace {
*new_accelerometer_samples = 0;
*new_gyroscope_samples = 0;
// Loop through new samples and add to buffer
while (IMU.accelerationAvailable()) {
if (IMU.accelerationAvailable()) {
const int gyroscope_index = (gyroscope_data_index % gyroscope_data_length);
gyroscope_data_index += 3;
float* current_gyroscope_data = &gyroscope_data[gyroscope_index];
// Read each sample, removing it from the device's FIFO buffer
if (!IMU.readGyroscope(
current_gyroscope_data[0], current_gyroscope_data[1], current_gyroscope_data[2])) {
Serial.println("Failed to read gyroscope data");
break;
//break;
}
*new_gyroscope_samples += 1;

Expand All @@ -79,7 +83,7 @@ namespace {
if (!IMU.readAcceleration(
current_acceleration_data[0], current_acceleration_data[1], current_acceleration_data[2])) {
Serial.println("Failed to read acceleration data");
break;
//break;
}
*new_accelerometer_samples += 1;
}
Expand Down
3 changes: 3 additions & 0 deletions examples/magic_wand/magic_wand.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,9 @@ limitations under the License.

#include <TensorFlowLite.h>

// if using Nano BLE rev2, uncomment next line
// #define NANO33_BLE_REV2

#include "tensorflow/lite/micro/micro_error_reporter.h"
#include "tensorflow/lite/micro/micro_interpreter.h"
#include "tensorflow/lite/micro/micro_mutable_op_resolver.h"
Expand Down
4 changes: 4 additions & 0 deletions examples/test_IMU/test_IMU.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@
*/

#include <Arduino_LSM9DS1.h>
// if using Nano BLE rev2, uncomment next line
// #include <Arduino_BMI270_BMM150.h>

int imuIndex = 0; // 0 - accelerometer, 1 - gyroscope, 2 - magnetometer
bool commandRecv = false; // flag used for indicating receipt of commands from serial port
Expand All @@ -22,6 +24,8 @@ void setup() {
while (1);
}

IMU.setContinuousMode();

Serial.println("Welcome to the IMU test for the built-in IMU on the Nano 33 BLE Sense\n");
Serial.println("Available commands:");
Serial.println("a - display accelerometer readings in g's in x, y, and z directions");
Expand Down