JeVois  1.20
JeVois Smart Embedded Machine Vision Toolkit
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IMUdata.C
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1  // ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2 //
3 // JeVois Smart Embedded Machine Vision Toolkit - Copyright (C) 2018 by Laurent Itti, the University of Southern
4 // California (USC), and iLab at USC. See http://iLab.usc.edu and http://jevois.org for information about this project.
5 //
6 // This file is part of the JeVois Smart Embedded Machine Vision Toolkit. This program is free software; you can
7 // redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software
8 // Foundation, version 2. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
9 // without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public
10 // License for more details. You should have received a copy of the GNU General Public License along with this program;
11 // if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
12 //
13 // Contact information: Laurent Itti - 3641 Watt Way, HNB-07A - Los Angeles, CA 90089-2520 - USA.
14 // Tel: +1 213 740 3527 - itti@pollux.usc.edu - http://iLab.usc.edu - http://jevois.org
15 // ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
16 /*! \file */
17 
18 #include <jevois/Debug/Log.H>
19 #include <jevois/Core/IMUdata.H>
20 #include <jevois/Util/Utils.H>
21 #include <jevois/Core/ICM20948_regs.H>
22 
23 // data packet size reg 1
24 #define JEVOIS_DMP_HEADER_SZ 2
25 #define JEVOIS_DMP_ACCEL_DATA_SZ 6
26 #define JEVOIS_DMP_GYRO_DATA_SZ 6
27 #define JEVOIS_DMP_CPASS_DATA_SZ 6
28 #define JEVOIS_DMP_ALS_DATA_SZ 8
29 #define JEVOIS_DMP_QUAT6_DATA_SZ 12
30 #define JEVOIS_DMP_QUAT9_DATA_SZ 14
31 #define JEVOIS_DMP_PQUAT6_DATA_SZ 6
32 #define JEVOIS_DMP_GEOMAG_DATA_SZ 14
33 #define JEVOIS_DMP_PRESSURE_DATA_SZ 6
34 #define JEVOIS_DMP_GYRO_BIAS_DATA_SZ 6
35 #define JEVOIS_DMP_CPASS_CALIBR_DATA_SZ 12
36 #define JEVOIS_DMP_PED_STEPDET_TIMESTAMP_SZ 4
37 #define JEVOIS_DMP_FOOTER_SZ 2
38 
39 // data packet size reg 2
40 #define JEVOIS_DMP_HEADER2_SZ 2
41 #define JEVOIS_DMP_ACCEL_ACCURACY_SZ 2
42 #define JEVOIS_DMP_GYRO_ACCURACY_SZ 2
43 #define JEVOIS_DMP_CPASS_ACCURACY_SZ 2
44 #define JEVOIS_DMP_FSYNC_SZ 2
45 #define JEVOIS_DMP_FLIP_PICKUP_SZ 2
46 #define JEVOIS_DMP_ACT_RECOG_SZ 6
47 
48 // This is always present at end of packet?
49 #define JEVOIS_DMP_ODR_CNT_GYRO_SZ 2
50 
51 // ####################################################################################################
52 size_t jevois::DMPpacketSize(unsigned short ctl1, unsigned short ctl2)
53 {
54  size_t ret = JEVOIS_DMP_HEADER_SZ;
55 
56  if (ctl1 & JEVOIS_DMP_ACCEL) ret += JEVOIS_DMP_ACCEL_DATA_SZ;
57  if (ctl1 & JEVOIS_DMP_GYRO) ret += JEVOIS_DMP_GYRO_DATA_SZ + JEVOIS_DMP_GYRO_BIAS_DATA_SZ;
58  if (ctl1 & JEVOIS_DMP_CPASS) ret += JEVOIS_DMP_CPASS_DATA_SZ;
59  if (ctl1 & JEVOIS_DMP_ALS) ret += JEVOIS_DMP_ALS_DATA_SZ;
60  if (ctl1 & JEVOIS_DMP_QUAT6) ret += JEVOIS_DMP_QUAT6_DATA_SZ;
61  if (ctl1 & JEVOIS_DMP_QUAT9) ret += JEVOIS_DMP_QUAT9_DATA_SZ;
62  if (ctl1 & JEVOIS_DMP_PQUAT6) ret += JEVOIS_DMP_PQUAT6_DATA_SZ;
63  if (ctl1 & JEVOIS_DMP_GEOMAG) ret += JEVOIS_DMP_GEOMAG_DATA_SZ;
64  if (ctl1 & JEVOIS_DMP_PRESSURE) ret += JEVOIS_DMP_PRESSURE_DATA_SZ;
65  if (ctl1 & JEVOIS_DMP_GYRO_CALIBR) ret += JEVOIS_DMP_GYRO_BIAS_DATA_SZ;
66  if (ctl1 & JEVOIS_DMP_CPASS_CALIBR) ret += JEVOIS_DMP_CPASS_CALIBR_DATA_SZ;
67  if (ctl1 & JEVOIS_DMP_PED_STEPDET) ret += JEVOIS_DMP_PED_STEPDET_TIMESTAMP_SZ;
68  if (ctl1 & JEVOIS_DMP_HEADER2) ret += JEVOIS_DMP_HEADER2_SZ;
69 
70  if (ctl2 & JEVOIS_DMP_ACCEL_ACCURACY) ret += JEVOIS_DMP_ACCEL_ACCURACY_SZ;
71  if (ctl2 & JEVOIS_DMP_GYRO_ACCURACY) ret += JEVOIS_DMP_GYRO_ACCURACY_SZ;
72  if (ctl2 & JEVOIS_DMP_CPASS_ACCURACY) ret += JEVOIS_DMP_CPASS_ACCURACY_SZ;
73  if (ctl2 & JEVOIS_DMP_FSYNC) ret += JEVOIS_DMP_FSYNC_SZ;
74  if (ctl2 & JEVOIS_DMP_FLIP_PICKUP) ret += JEVOIS_DMP_FLIP_PICKUP_SZ;
75  if (ctl2 & JEVOIS_DMP_BATCH_MODE_EN) ret += JEVOIS_DMP_ODR_CNT_GYRO_SZ; // is this correct?
76  if (ctl2 & JEVOIS_DMP_ACT_RECOG) ret += JEVOIS_DMP_ACT_RECOG_SZ;
77 
78  ret += JEVOIS_DMP_FOOTER_SZ;
79 
80  return ret;
81 }
82 
83 // ####################################################################################################
84 void jevois::DMPdata::parsePacket(unsigned char const * packet, size_t siz)
85 {
86  // Parse the headers:
87  header1 = (packet[0] << 8) | packet[1];
88  size_t off = JEVOIS_DMP_HEADER_SZ; // offset to where we are in parsing the packet so far
89  header2 = 0;
90  if (header1 & JEVOIS_DMP_HEADER2) { header2 = (packet[off] << 8) | packet[off + 1]; off += JEVOIS_DMP_HEADER2_SZ; }
91 
92  // Now decode the various data:
93  if (header1 & JEVOIS_DMP_ACCEL)
94  {
95  accel[0] = (packet[off + 0] << 8) | packet[off + 1];
96  accel[1] = (packet[off + 2] << 8) | packet[off + 3];
97  accel[2] = (packet[off + 4] << 8) | packet[off + 5];
98  off += JEVOIS_DMP_ACCEL_DATA_SZ;
99  }
100 
101  if (header1 & JEVOIS_DMP_GYRO)
102  {
103  gyro[0] = (packet[off + 0] << 8) | packet[off + 1];
104  gyro[1] = (packet[off + 2] << 8) | packet[off + 3];
105  gyro[2] = (packet[off + 4] << 8) | packet[off + 5];
106  off += JEVOIS_DMP_GYRO_DATA_SZ;
107  gbias[0] = (packet[off + 0] << 8) | packet[off + 1];
108  gbias[1] = (packet[off + 2] << 8) | packet[off + 3];
109  gbias[2] = (packet[off + 4] << 8) | packet[off + 5];
110  off += JEVOIS_DMP_GYRO_BIAS_DATA_SZ;
111  }
112 
113  if (header1 & JEVOIS_DMP_CPASS)
114  {
115  cpass[0] = (packet[off + 0] << 8) | packet[off + 1];
116  cpass[1] = (packet[off + 2] << 8) | packet[off + 3];
117  cpass[2] = (packet[off + 4] << 8) | packet[off + 5];
118  off += JEVOIS_DMP_CPASS_DATA_SZ;
119  }
120 
121  if (header1 & JEVOIS_DMP_ALS)
122  {
123  // Not supported by InvenSense?
124  off += JEVOIS_DMP_ALS_DATA_SZ;
125  }
126 
127  if (header1 & JEVOIS_DMP_QUAT6)
128  {
129  quat6[0] = (packet[off + 0] << 24) | (packet[off + 1] << 16) | (packet[off + 2] << 8) | packet[off + 3];
130  quat6[1] = (packet[off + 4] << 24) | (packet[off + 5] << 16) | (packet[off + 6] << 8) | packet[off + 7];
131  quat6[2] = (packet[off + 8] << 24) | (packet[off + 9] << 16) | (packet[off + 10] << 8) | packet[off + 11];
132  off += JEVOIS_DMP_QUAT6_DATA_SZ;
133  }
134 
135  if (header1 & JEVOIS_DMP_QUAT9)
136  {
137  quat9[0] = (packet[off + 0] << 24) | (packet[off + 1] << 16) | (packet[off + 2] << 8) | packet[off + 3];
138  quat9[1] = (packet[off + 4] << 24) | (packet[off + 5] << 16) | (packet[off + 6] << 8) | packet[off + 7];
139  quat9[2] = (packet[off + 8] << 24) | (packet[off + 9] << 16) | (packet[off + 10] << 8) | packet[off + 11];
140  quat9acc = (packet[off + 12] << 24) | (packet[off + 13] << 16);
141  off += JEVOIS_DMP_QUAT9_DATA_SZ;
142  }
143 
144  if (header1 & JEVOIS_DMP_PED_STEPDET)
145  {
146  stepts = (packet[off + 0] << 24) | (packet[off + 1] << 16) | (packet[off + 2] << 8) | packet[off + 3];
147  steps = header1 & JEVOIS_DMP_PED_STEPIND;
148  if (steps == 0) steps = 1; // FIXME: docs say we should get the number of steps, but it is always 0...
149  off += JEVOIS_DMP_PED_STEPDET_TIMESTAMP_SZ;
150  }
151 
152  if (header1 & JEVOIS_DMP_GEOMAG)
153  {
154  geomag[0] = (packet[off + 0] << 24) | (packet[off + 1] << 16) | (packet[off + 2] << 8) | packet[off + 3];
155  geomag[1] = (packet[off + 4] << 24) | (packet[off + 5] << 16) | (packet[off + 6] << 8) | packet[off + 7];
156  geomag[2] = (packet[off + 8] << 24) | (packet[off + 9] << 16) | (packet[off + 10] << 8) | packet[off + 11];
157  geomagacc = (packet[off + 12] << 24) | (packet[off + 13] << 16);
158  off += JEVOIS_DMP_GEOMAG_DATA_SZ;
159  }
160 
161  if (header1 & JEVOIS_DMP_PRESSURE)
162  {
163  // Not supported by InvenSense?
164  off += JEVOIS_DMP_PRESSURE_DATA_SZ;
165  }
166 
167  if (header1 & JEVOIS_DMP_GYRO_CALIBR)
168  {
169  gyrobias[0] = (packet[off + 0] << 8) | packet[off + 1];
170  gyrobias[1] = (packet[off + 2] << 8) | packet[off + 3];
171  gyrobias[2] = (packet[off + 4] << 8) | packet[off + 5];
172  off += JEVOIS_DMP_GYRO_BIAS_DATA_SZ;
173  }
174 
175  if (header1 & JEVOIS_DMP_CPASS_CALIBR)
176  {
177  cpasscal[0] = (packet[off + 0] << 24) | (packet[off + 1] << 16) | (packet[off + 2] << 8) | packet[off + 3];
178  cpasscal[1] = (packet[off + 4] << 24) | (packet[off + 5] << 16) | (packet[off + 6] << 8) | packet[off + 7];
179  cpasscal[2] = (packet[off + 8] << 24) | (packet[off + 9] << 16) | (packet[off + 10] << 8) | packet[off + 11];
180  off += JEVOIS_DMP_CPASS_CALIBR_DATA_SZ;
181  }
182 
183  if (header2 & JEVOIS_DMP_ACCEL_ACCURACY)
184  {
185  accelacc = (packet[off + 0] << 8) | packet[off + 1];
186  off += JEVOIS_DMP_ACCEL_ACCURACY_SZ;
187  }
188 
189  if (header2 & JEVOIS_DMP_GYRO_ACCURACY)
190  {
191  gyroacc = (packet[off + 0] << 8) | packet[off + 1];
192  off += JEVOIS_DMP_GYRO_ACCURACY_SZ;
193  }
194 
195  if (header2 & JEVOIS_DMP_CPASS_ACCURACY)
196  {
197  cpassacc = (packet[off + 0] << 8) | packet[off + 1];
198  off += JEVOIS_DMP_CPASS_ACCURACY_SZ;
199  }
200 
201  if (header2 & JEVOIS_DMP_FSYNC)
202  {
203  fsync = (packet[off + 0] << 8) | packet[off + 1];
204  off += JEVOIS_DMP_FSYNC_SZ;
205  }
206 
207  if (header2 & JEVOIS_DMP_FLIP_PICKUP)
208  {
209  pickup = (packet[off + 0] << 8) | packet[off + 1];
210  off += JEVOIS_DMP_FLIP_PICKUP_SZ;
211  }
212 
213  if (header2 & JEVOIS_DMP_ACT_RECOG)
214  {
215  bacstate = (packet[off + 0] << 8) | packet[off + 1];
216  bacts = (packet[off + 2] << 24) | (packet[off + 3] << 16) | (packet[off + 4] << 8) | packet[off + 5];
217  off += JEVOIS_DMP_ACT_RECOG_SZ;
218  }
219 
220  odrcnt = (packet[off + 0] << 8) | packet[off + 1];
221  off += JEVOIS_DMP_FOOTER_SZ;
222 
223  if (off != siz) LERROR("Decoded " << off << " bytes from " << siz << " bytes of IMU packet");
224 }
225 
226 // ####################################################################################################
227 float jevois::DMPdata::fsync_us() const
228 {
229  return float(fsync) * 0.9645F;
230 }
231 
232 // ####################################################################################################
233 std::vector<std::string> jevois::DMPdata::activity()
234 {
235  std::vector<std::string> ret;
236 
237  // The activity classifier reports start/stop of activities:
238  // bacstate is a set of 2 bytes:
239  // - high byte indicates activity start
240  // - low byte indicates activity end
241  unsigned char bs[2]; bs[0] = bacstate >> 8; bs[1] = bacstate & 0xff;
242  unsigned short const mask = DMP_BAC_DRIVE | DMP_BAC_WALK | DMP_BAC_RUN | DMP_BAC_BIKE | DMP_BAC_TILT | DMP_BAC_STILL;
243  for (int i = 0; i < 2; ++i)
244  {
245  std::string const ss = (i == 0) ? "start " : "stop ";
246  if (bs[i] & DMP_BAC_DRIVE) ret.push_back(ss + "drive");
247  if (bs[i] & DMP_BAC_WALK) ret.push_back(ss + "walk");
248  if (bs[i] & DMP_BAC_RUN) ret.push_back(ss + "run");
249  if (bs[i] & DMP_BAC_BIKE) ret.push_back(ss + "bike");
250  if (bs[i] & DMP_BAC_TILT) ret.push_back(ss + "tilt");
251  if (bs[i] & DMP_BAC_STILL) ret.push_back(ss + "still");
252  if (bs[i] & ~mask) ret.push_back(ss + jevois::sformat("Unk(0x%02x)", bs[i] & ~mask));
253  }
254 
255  return ret;
256 }
257 
258 // ####################################################################################################
259 std::vector<std::string> jevois::DMPdata::activity2()
260 {
261  std::vector<std::string> ret;
262  static unsigned char act = 0; // Activities that currently are ongoing
263 
264  // The activity classifier reports start/stop of activities:
265  // - high byte indicates activity start
266  // - low byte indicates activity end
267  unsigned char bs[2]; bs[0] = bacstate >> 8; bs[1] = bacstate & 0xff;
268 
269  act |= bs[0]; // Activities that started are turned on
270  act &= ~bs[1]; // Activities that stopped are turned off
271 
272  if (act & DMP_BAC_DRIVE) ret.push_back("drive");
273  if (act & DMP_BAC_WALK) ret.push_back("walk");
274  if (act & DMP_BAC_RUN) ret.push_back("run");
275  if (act & DMP_BAC_BIKE) ret.push_back("bike");
276  if (act & DMP_BAC_TILT) ret.push_back("tilt");
277  if (act & DMP_BAC_STILL) ret.push_back("still");
278 
279  return ret;
280 }
281 
282 // ####################################################################################################
283 float jevois::DMPdata::fix2float(long val)
284 { return float(val * 1.0 / (1<<30)); }
285 
286 // ####################################################################################################
287 jevois::IMUdata::IMUdata(jevois::IMUrawData const & rd, double arange, double grange)
288 {
289  double const ar = arange / 32768.0;
290  ax() = rd.ax() * ar;
291  ay() = rd.ay() * ar;
292  az() = rd.az() * ar;
293 
294  double const gr = grange / 32768.0;
295  gx() = rd.gx() * gr;
296  gy() = rd.gy() * gr;
297  gz() = rd.gz() * gr;
298 
299  temp() = rd.temp() / 333.87F + 21.0F;
300 
301  double const mr = 4912.0 / 32752.0; // full range is +/-4912uT for raw values +/-32752
302  mx() = rd.mx() * mr;
303  my() = rd.my() * mr;
304  mz() = rd.mz() * mr;
305 
306  magovf = ((rd.mst2() & BIT_AK09916_STATUS2_HOFL) != 0);
307 }
308 
jevois::DMPdata::accelacc
short accelacc
Accelerometer accuracy data (when JEVOIS_DMP_ACCEL_ACCURACY in header2)
Definition: IMUdata.H:155
jevois::DMPdata::gbias
short gbias[3]
Raw gyro bias data (when JEVOIS_DMP_GYRO in header1)
Definition: IMUdata.H:140
JEVOIS_DMP_FSYNC_SZ
#define JEVOIS_DMP_FSYNC_SZ
Definition: IMUdata.C:44
jevois::DMPdata::cpassacc
short cpassacc
Compass accuracy data (when JEVOIS_DMP_CPASS_ACCURACY in header2)
Definition: IMUdata.H:157
JEVOIS_DMP_PRESSURE
#define JEVOIS_DMP_PRESSURE
Definition: IMUdata.H:108
JEVOIS_DMP_FOOTER_SZ
#define JEVOIS_DMP_FOOTER_SZ
Definition: IMUdata.C:37
JEVOIS_DMP_HEADER_SZ
#define JEVOIS_DMP_HEADER_SZ
Definition: IMUdata.C:24
jevois::DMPdata::header2
unsigned short header2
Header 2 fields that indicate what data is valid.
Definition: IMUdata.H:135
JEVOIS_DMP_CPASS_ACCURACY_SZ
#define JEVOIS_DMP_CPASS_ACCURACY_SZ
Definition: IMUdata.C:43
jevois::DMPdata::bacts
long bacts
Activity recognition timestamp (when JEVOIS_DMP_ACT_RECOG in header2)
Definition: IMUdata.H:165
jevois::DMPdata::activity2
std::vector< std::string > activity2()
Definition: IMUdata.C:259
jevois::sformat
std::string sformat(char const *fmt,...) __attribute__((format(__printf__
Create a string using printf style arguments.
Definition: Utils.C:439
JEVOIS_DMP_GYRO_BIAS_DATA_SZ
#define JEVOIS_DMP_GYRO_BIAS_DATA_SZ
Definition: IMUdata.C:34
JEVOIS_DMP_QUAT6
#define JEVOIS_DMP_QUAT6
Definition: IMUdata.H:104
JEVOIS_DMP_HEADER2
#define JEVOIS_DMP_HEADER2
Definition: IMUdata.H:112
JEVOIS_DMP_ACCEL_ACCURACY_SZ
#define JEVOIS_DMP_ACCEL_ACCURACY_SZ
Definition: IMUdata.C:41
jevois::DMPdata::bacstate
unsigned short bacstate
Activity recognition state (when JEVOIS_DMP_ACT_RECOG in header2)
Definition: IMUdata.H:164
jevois::DMPdata::gyro
short gyro[3]
Raw gyro data (when JEVOIS_DMP_GYRO in header1)
Definition: IMUdata.H:138
jevois::DMPdata::odrcnt
unsigned short odrcnt
Output data rate counter (always here but unclear what it is)
Definition: IMUdata.H:167
jevois::DMPdata::header1
unsigned short header1
Header 1 fields that indicate what data is valid.
Definition: IMUdata.H:134
jevois::IMUrawData::mst2
short & mst2()
Definition: IMUdata.H:60
JEVOIS_DMP_QUAT9
#define JEVOIS_DMP_QUAT9
Definition: IMUdata.H:105
jevois::DMPdata::accel
short accel[3]
Raw accelerometer data (when JEVOIS_DMP_ACCEL in header1)
Definition: IMUdata.H:137
jevois::IMUrawData::ay
short & ay()
Definition: IMUdata.H:42
jevois::DMPdata::activity
std::vector< std::string > activity()
Decode current ongoing activities into a string.
Definition: IMUdata.C:233
jevois::DMPdata::gyrobias
short gyrobias[3]
Gyro bias/calibration data (when JEVOIS_DMP_GYRO_CALIBR in header1)
Definition: IMUdata.H:152
JEVOIS_DMP_QUAT9_DATA_SZ
#define JEVOIS_DMP_QUAT9_DATA_SZ
Definition: IMUdata.C:30
JEVOIS_DMP_HEADER2_SZ
#define JEVOIS_DMP_HEADER2_SZ
Definition: IMUdata.C:40
jevois::DMPdata::fsync
unsigned short fsync
Delay between FSYNC received from camera and first subsequent IMU data generated.
Definition: IMUdata.H:159
IMUdata.H
jevois::IMUrawData::az
short & az()
Definition: IMUdata.H:44
JEVOIS_DMP_PED_STEPDET
#define JEVOIS_DMP_PED_STEPDET
Definition: IMUdata.H:111
jevois::IMUrawData::gz
short & gz()
Definition: IMUdata.H:50
JEVOIS_DMP_ODR_CNT_GYRO_SZ
#define JEVOIS_DMP_ODR_CNT_GYRO_SZ
Definition: IMUdata.C:49
JEVOIS_DMP_ACT_RECOG_SZ
#define JEVOIS_DMP_ACT_RECOG_SZ
Definition: IMUdata.C:46
jevois::DMPdata::fsync_us
float fsync_us() const
Delay between FSYNC and next IMU data, in microseconds.
Definition: IMUdata.C:227
JEVOIS_DMP_CPASS_CALIBR_DATA_SZ
#define JEVOIS_DMP_CPASS_CALIBR_DATA_SZ
Definition: IMUdata.C:35
LERROR
#define LERROR(msg)
Convenience macro for users to print out console or syslog messages, ERROR level.
Definition: Log.H:211
jevois::IMUrawData::gy
short & gy()
Definition: IMUdata.H:48
jevois::DMPdata::quat6
long quat6[3]
Quaternion6 data (when JEVOIS_DMP_QUAT6 in header1)
Definition: IMUdata.H:142
jevois::DMPdata::stepts
unsigned long stepts
Step detection timestamp (when JEVOIS_DMP_PED_STEPDET)
Definition: IMUdata.H:146
jevois::DMPdata::geomag
long geomag[3]
Geomag data (when JEVOIS_DMP_GEOMAG in header1)
Definition: IMUdata.H:149
JEVOIS_DMP_ACCEL_ACCURACY
#define JEVOIS_DMP_ACCEL_ACCURACY
Definition: IMUdata.H:115
JEVOIS_DMP_GYRO_ACCURACY
#define JEVOIS_DMP_GYRO_ACCURACY
Definition: IMUdata.H:116
jevois::DMPpacketSize
size_t DMPpacketSize(unsigned short ctl1, unsigned short ctl2)
Helper function to determine DMP packet size depending on options.
Definition: IMUdata.C:52
JEVOIS_DMP_GEOMAG
#define JEVOIS_DMP_GEOMAG
Definition: IMUdata.H:107
DMP_BAC_BIKE
#define DMP_BAC_BIKE
Definition: ICM20948_regs.H:651
Log.H
JEVOIS_DMP_FSYNC
#define JEVOIS_DMP_FSYNC
Definition: IMUdata.H:118
ICM20948_regs.H
JEVOIS_DMP_GYRO_CALIBR
#define JEVOIS_DMP_GYRO_CALIBR
Definition: IMUdata.H:109
JEVOIS_DMP_PQUAT6
#define JEVOIS_DMP_PQUAT6
Definition: IMUdata.H:106
JEVOIS_DMP_PRESSURE_DATA_SZ
#define JEVOIS_DMP_PRESSURE_DATA_SZ
Definition: IMUdata.C:33
jevois::DMPdata::geomagacc
long geomagacc
Geomag accuracy (when JEVOIS_DMP_GEOMAG in header1)
Definition: IMUdata.H:150
JEVOIS_DMP_CPASS_CALIBR
#define JEVOIS_DMP_CPASS_CALIBR
Definition: IMUdata.H:110
jevois::IMUrawData::mx
short & mx()
Definition: IMUdata.H:54
jevois::DMPdata::cpasscal
long cpasscal[3]
Compass calibration data (when JEVOIS_DMP_CPASS_CALIBR in header1)
Definition: IMUdata.H:153
JEVOIS_DMP_FLIP_PICKUP_SZ
#define JEVOIS_DMP_FLIP_PICKUP_SZ
Definition: IMUdata.C:45
JEVOIS_DMP_ALS
#define JEVOIS_DMP_ALS
Definition: IMUdata.H:103
jevois::DMPdata::fix2float
static float fix2float(long val)
Convert a long fixed-point value to float.
Definition: IMUdata.C:283
jevois::DMPdata::gyroacc
short gyroacc
Gyro accuracy data (when JEVOIS_DMP_GYRO_ACCURACY in header2)
Definition: IMUdata.H:156
JEVOIS_DMP_GYRO_DATA_SZ
#define JEVOIS_DMP_GYRO_DATA_SZ
Definition: IMUdata.C:26
jevois::IMUdata::IMUdata
IMUdata(IMUrawData const &rd, double arange, double grange)
Construct from a raw data reading.
Definition: IMUdata.C:287
jevois::IMUrawData
Raw IMU data.
Definition: IMUdata.H:36
JEVOIS_DMP_CPASS
#define JEVOIS_DMP_CPASS
Definition: IMUdata.H:102
jevois::IMUrawData::mz
short & mz()
Definition: IMUdata.H:58
DMP_BAC_DRIVE
#define DMP_BAC_DRIVE
Definition: ICM20948_regs.H:648
jevois::DMPdata::steps
unsigned short steps
Number of steps (0..7) detected this cycle (when JEVOIS_DMP_PED_STEPDET)
Definition: IMUdata.H:147
JEVOIS_DMP_CPASS_DATA_SZ
#define JEVOIS_DMP_CPASS_DATA_SZ
Definition: IMUdata.C:27
jevois::DMPdata::quat9acc
long quat9acc
Quaternion9 accuracy (when JEVOIS_DMP_QUAT9 in header1)
Definition: IMUdata.H:144
JEVOIS_DMP_ACT_RECOG
#define JEVOIS_DMP_ACT_RECOG
Definition: IMUdata.H:121
jevois::DMPdata::pickup
short pickup
Flip/pickup detection (when JEVOIS_DMP_FLIP_PICKUP in header2)
Definition: IMUdata.H:162
JEVOIS_DMP_ACCEL_DATA_SZ
#define JEVOIS_DMP_ACCEL_DATA_SZ
Definition: IMUdata.C:25
JEVOIS_DMP_CPASS_ACCURACY
#define JEVOIS_DMP_CPASS_ACCURACY
Definition: IMUdata.H:117
DMP_BAC_WALK
#define DMP_BAC_WALK
Definition: ICM20948_regs.H:649
jevois::DMPdata::quat9
long quat9[3]
Quaternion9 data (when JEVOIS_DMP_QUAT9 in header1)
Definition: IMUdata.H:143
jevois::DMPdata::parsePacket
void parsePacket(unsigned char const *packet, size_t siz)
Populate our fields from a packet received from the DMP.
Definition: IMUdata.C:84
Utils.H
JEVOIS_DMP_GYRO
#define JEVOIS_DMP_GYRO
Definition: IMUdata.H:101
DMP_BAC_RUN
#define DMP_BAC_RUN
Definition: ICM20948_regs.H:650
JEVOIS_DMP_QUAT6_DATA_SZ
#define JEVOIS_DMP_QUAT6_DATA_SZ
Definition: IMUdata.C:29
JEVOIS_DMP_BATCH_MODE_EN
#define JEVOIS_DMP_BATCH_MODE_EN
Definition: IMUdata.H:120
jevois::IMUrawData::my
short & my()
Definition: IMUdata.H:56
jevois::DMPdata::cpass
short cpass[3]
Raw compass data (when JEVOIS_DMP_CPASS in header1)
Definition: IMUdata.H:139
JEVOIS_DMP_PED_STEPIND
#define JEVOIS_DMP_PED_STEPIND
Definition: IMUdata.H:113
DMP_BAC_STILL
#define DMP_BAC_STILL
Definition: ICM20948_regs.H:653
JEVOIS_DMP_PQUAT6_DATA_SZ
#define JEVOIS_DMP_PQUAT6_DATA_SZ
Definition: IMUdata.C:31
JEVOIS_DMP_GYRO_ACCURACY_SZ
#define JEVOIS_DMP_GYRO_ACCURACY_SZ
Definition: IMUdata.C:42
jevois::IMUrawData::ax
short & ax()
Definition: IMUdata.H:40
JEVOIS_DMP_FLIP_PICKUP
#define JEVOIS_DMP_FLIP_PICKUP
Definition: IMUdata.H:119
JEVOIS_DMP_ALS_DATA_SZ
#define JEVOIS_DMP_ALS_DATA_SZ
Definition: IMUdata.C:28
jevois::IMUrawData::temp
short & temp()
Definition: IMUdata.H:52
jevois::IMUrawData::gx
short & gx()
Definition: IMUdata.H:46
JEVOIS_DMP_ACCEL
#define JEVOIS_DMP_ACCEL
Definition: IMUdata.H:100
DMP_BAC_TILT
#define DMP_BAC_TILT
Definition: ICM20948_regs.H:652
JEVOIS_DMP_PED_STEPDET_TIMESTAMP_SZ
#define JEVOIS_DMP_PED_STEPDET_TIMESTAMP_SZ
Definition: IMUdata.C:36
JEVOIS_DMP_GEOMAG_DATA_SZ
#define JEVOIS_DMP_GEOMAG_DATA_SZ
Definition: IMUdata.C:32