Arduino 101 CurieIMU Raw IMU Data Serial

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1/*
2
3  ===============================================
4
5  Example sketch for CurieIMU library for Intel(R) Curie(TM) devices.
6
7  Copyright (c) 2015 Intel Corporation.  All rights reserved.
8
9  Based on I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050
10
11  class by Jeff Rowberg: https://github.com/jrowberg/i2cdevlib
12
13  ===============================================
14
15  I2Cdev device library code is placed under the MIT license
16
17  Copyright (c) 2011 Jeff Rowberg
18
19  Permission is hereby granted, free of charge, to any person obtaining a copy
20
21  of this software and associated documentation files (the "Software"), to deal
22
23  in the Software without restriction, including without limitation the rights
24
25  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
26
27  copies of the Software, and to permit persons to whom the Software is
28
29  furnished to do so, subject to the following conditions:
30
31  The above copyright notice and this permission notice shall be included in
32
33  all copies or substantial portions of the Software.
34
35  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
36
37  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
38
39  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
40
41  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
42
43  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
44
45  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
46
47  THE SOFTWARE.
48
49  ===============================================
50
51*/
52
53#include "CurieIMU.h"
54int ax, ay, az;         // accelerometer values
55int gx, gy, gz;         // gyrometer values
56
57const int ledPin = 13;      // activity LED pin
58
59bool blinkState = false; // state of the LED
60
61int calibrateOffsets = 1; // int to determine whether calibration takes place or not
62
63void setup() {
64
65  Serial.begin(9600); // initialize Serial communication
66
67  while (!Serial);    // wait for the serial port to open
68
69  // initialize device
70
71  Serial.println("Initializing IMU device...");
72
73  CurieIMU.begin();
74
75  // verify connection
76
77  Serial.println("Testing device connections...");
78
79  if (CurieIMU.begin()) {
80
81    Serial.println("CurieIMU connection successful");
82
83  } else {
84
85    Serial.println("CurieIMU connection failed");
86
87  }
88
89  // use the code below to calibrate accel/gyro offset values
90
91  if (calibrateOffsets == 1) {
92
93    Serial.println("Internal sensor offsets BEFORE calibration...");
94
95    Serial.print(CurieIMU.getAccelerometerOffset(X_AXIS));
96
97    Serial.print("\t"); // -76
98
99    Serial.print(CurieIMU.getAccelerometerOffset(Y_AXIS));
100
101    Serial.print("\t"); // -235
102
103    Serial.print(CurieIMU.getAccelerometerOffset(Z_AXIS));
104
105    Serial.print("\t"); // 168
106
107    Serial.print(CurieIMU.getGyroOffset(X_AXIS));
108
109    Serial.print("\t"); // 0
110
111    Serial.print(CurieIMU.getGyroOffset(Y_AXIS));
112
113    Serial.print("\t"); // 0
114
115    Serial.println(CurieIMU.getGyroOffset(Z_AXIS));
116
117    // To manually configure offset compensation values,
118
119    // use the following methods instead of the autoCalibrate...() methods below
120
121    //CurieIMU.setAccelerometerOffset(X_AXIS,495.3);
122
123    //CurieIMU.setAccelerometerOffset(Y_AXIS,-15.6);
124
125    //CurieIMU.setAccelerometerOffset(Z_AXIS,491.4);
126
127    //CurieIMU.setGyroOffset(X_AXIS,7.869);
128
129    //CurieIMU.setGyroOffset(Y_AXIS,-0.061);
130
131    //CurieIMU.setGyroOffset(Z_AXIS,15.494);
132
133    Serial.println("About to calibrate. Make sure your board is stable and upright");
134
135    delay(5000);
136
137    // The board must be resting in a horizontal position for
138
139    // the following calibration procedure to work correctly!
140
141    Serial.print("Starting Gyroscope calibration and enabling offset compensation...");
142
143    CurieIMU.autoCalibrateGyroOffset();
144
145    Serial.println(" Done");
146
147    Serial.print("Starting Acceleration calibration and enabling offset compensation...");
148
149    CurieIMU.autoCalibrateAccelerometerOffset(X_AXIS, 0);
150
151    CurieIMU.autoCalibrateAccelerometerOffset(Y_AXIS, 0);
152
153    CurieIMU.autoCalibrateAccelerometerOffset(Z_AXIS, 1);
154
155    Serial.println(" Done");
156
157    Serial.println("Internal sensor offsets AFTER calibration...");
158
159    Serial.print(CurieIMU.getAccelerometerOffset(X_AXIS));
160
161    Serial.print("\t"); // -76
162
163    Serial.print(CurieIMU.getAccelerometerOffset(Y_AXIS));
164
165    Serial.print("\t"); // -2359
166
167    Serial.print(CurieIMU.getAccelerometerOffset(Z_AXIS));
168
169    Serial.print("\t"); // 1688
170
171    Serial.print(CurieIMU.getGyroOffset(X_AXIS));
172
173    Serial.print("\t"); // 0
174
175    Serial.print(CurieIMU.getGyroOffset(Y_AXIS));
176
177    Serial.print("\t"); // 0
178
179    Serial.println(CurieIMU.getGyroOffset(Z_AXIS));
180
181  }
182
183
184
185  // configure Arduino LED for activity indicator
186
187  pinMode(ledPin, OUTPUT);
188}
189
190void loop() {
191
192  // read raw accel/gyro measurements from device
193
194  CurieIMU.readMotionSensor(ax, ay, az, gx, gy, gz);
195
196  // these methods (and a few others) are also available
197
198  //CurieIMU.readAcceleration(ax, ay, az);
199
200  //CurieIMU.readRotation(gx, gy, gz);
201
202  //ax = CurieIMU.readAccelerometer(X_AXIS);
203
204  //ay = CurieIMU.readAccelerometer(Y_AXIS);
205
206  //az = CurieIMU.readAccelerometer(Z_AXIS);
207
208  //gx = CurieIMU.readGyro(X_AXIS);
209
210  //gy = CurieIMU.readGyro(Y_AXIS);
211
212  //gz = CurieIMU.readGyro(Z_AXIS);
213
214  // display tab-separated accel/gyro x/y/z values
215
216  Serial.print("a/g:\t");
217
218  Serial.print(ax);
219
220  Serial.print("\t");
221
222  Serial.print(ay);
223
224  Serial.print("\t");
225
226  Serial.print(az);
227
228  Serial.print("\t");
229
230  Serial.print(gx);
231
232  Serial.print("\t");
233
234  Serial.print(gy);
235
236  Serial.print("\t");
237
238  Serial.println(gz);
239
240  // blink LED to indicate activity
241
242  blinkState = !blinkState;
243
244  digitalWrite(ledPin, blinkState);
245}