Add new API's and examples to CurieIMU

libraries/CurieIMU/examples/Accelerometer/Accelerometer.ino

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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"
+
+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();
+
+  // Set the accelerometer range to 2G
+  CurieIMU.setAccelerometerRange(CURIE_IMU_ACCELEROMETER_RANGE_2G);
+}
+
+void loop() {
+  int axRaw, ayRaw, azRaw;         // raw accelerometer values
+  float ax, ay, az;
+
+  // read raw accelerometer measurements from device
+  CurieIMU.readAccelerometer(axRaw, ayRaw, azRaw);
+
+  // convert the raw accelerometer data to G's
+  ax = convertRawAcceleration(axRaw);
+  ay = convertRawAcceleration(ayRaw);
+  az = convertRawAcceleration(azRaw);
+
+  // display tab-separated accelerometer x/y/z values
+  Serial.print("a:\t");
+  Serial.print(ax);
+  Serial.print("\t");
+  Serial.print(ay);
+  Serial.print("\t");
+  Serial.print(az);
+  Serial.println();
+
+  // wait 5 seconds
+  delay(5000);
+}
+
+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;
+}
+

libraries/CurieIMU/examples/AccelerometerOrientation/AccelerometerOrientation.ino

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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
+   and translate it to an orientation
+*/
+
+#include "CurieIMU.h"
+
+int lastOrientation = - 1; // previous orientation (for comparison)
+
+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();
+
+  // Set the accelerometer range to 2G
+  CurieIMU.setAccelerometerRange(CURIE_IMU_ACCELEROMETER_RANGE_2G);
+}
+
+void loop() {
+int orientation = - 1;   // the board's orientation
+  String orientationString; // string for printing description of orientation
+  /*
+    The orientations of the board:
+    0: flat, processor facing up
+    1: flat, processor facing down
+    2: landscape, analog pins down
+    3: landscape, analog pins up
+    4: portrait, USB connector up
+    5: portrait, USB connector down
+  */
+  // read accelerometer:
+  int x = CurieIMU.readAccelerometer(X_AXIS);
+  int y = CurieIMU.readAccelerometer(Y_AXIS);
+  int z = CurieIMU.readAccelerometer(Z_AXIS);
+
+  // calculate the absolute values, to determine the largest
+  int absX = abs(x);
+  int absY = abs(y);
+  int absZ = abs(z);
+
+  if ( (absZ > absX) && (absZ > absY)) {
+    // base orientation on Z
+    if (z > 0) {
+      orientationString = "up";
+      orientation = 0;  
+    } else {
+      orientationString = "down";
+      orientation = 1;
+    }
+  } else if ( (absY > absX) && (absY > absZ)) {
+    // base orientation on Y
+    if (y > 0) {
+      orientationString = "digital pins up";
+      orientation = 2;
+    } else {
+      orientationString = "analog pins up";
+      orientation = 3;
+    }
+  } else {
+    // base orientation on X
+    if (x < 0) {
+      orientationString = "connector up";
+      orientation = 4;
+    } else {
+      orientationString = "connector down";
+      orientation = 5;
+    }
+  }
+
+  // if the orientation has changed, print out a description:
+  if (orientation != lastOrientation) {
+    Serial.println(orientationString);
+    lastOrientation = orientation;
+  }
+}
+
+

libraries/CurieIMU/examples/Gyro/Gyro.ino

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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 gyroscope data
+*/
+
+#include "CurieIMU.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();
+
+  // Set the accelerometer range to 250 degrees/second
+  CurieIMU.setGyroRange(CURIE_IMU_GYRO_RANGE_250);
+}
+
+void loop() {
+  int gxRaw, gyRaw, gzRaw;         // raw gyro values
+  float gx, gy, gz;
+
+  // read raw gyro measurements from device
+  CurieIMU.readGyro(gxRaw, gyRaw, gzRaw);
+
+  // convert the raw gyro data to degrees/second
+  gx = convertRawGyro(gxRaw);
+  gy = convertRawGyro(gyRaw);
+  gz = convertRawGyro(gzRaw);
+
+  // display tab-separated gyro x/y/z values
+  Serial.print("g:\t");
+  Serial.print(gx);
+  Serial.print("\t");
+  Serial.print(gy);
+  Serial.print("\t");
+  Serial.print(gz);
+  Serial.println();
+
+  // wait 5 seconds
+  delay(5000);
+}
+
+float convertRawGyro(int gRaw) {
+  // since we are using 250 degrees/seconds range
+  // -250 maps to a raw value of -32768
+  // +250 maps to a raw value of 32767
+
+  float g = (gRaw * 250.0) / 32768.0;
+
+  return g;
+}
+