JeVois
1.19
JeVois Smart Embedded Machine Vision Toolkit
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40 inline short &
ax() {
return v[0]; }
41 inline short const &
ax()
const {
return v[0]; }
42 inline short &
ay() {
return v[1]; }
43 inline short const &
ay()
const {
return v[1]; }
44 inline short &
az() {
return v[2]; }
45 inline short const &
az()
const {
return v[2]; }
46 inline short &
gx() {
return v[3]; }
47 inline short const &
gx()
const {
return v[3]; }
48 inline short &
gy() {
return v[4]; }
49 inline short const &
gy()
const {
return v[4]; }
50 inline short &
gz() {
return v[5]; }
51 inline short const &
gz()
const {
return v[5]; }
52 inline short &
temp() {
return v[6]; }
53 inline short const &
temp()
const {
return v[6]; }
54 inline short &
mx() {
return v[7]; }
55 inline short const &
mx()
const {
return v[7]; }
56 inline short &
my() {
return v[8]; }
57 inline short const &
my()
const {
return v[8]; }
58 inline short &
mz() {
return v[9]; }
59 inline short const &
mz()
const {
return v[9]; }
60 inline short &
mst2() {
return v[10]; }
61 inline short const &
mst2()
const {
return v[10]; }
75 inline float &
ax() {
return v[0]; }
76 inline float const &
ax()
const {
return v[0]; }
77 inline float &
ay() {
return v[1]; }
78 inline float const &
ay()
const {
return v[1]; }
79 inline float &
az() {
return v[2]; }
80 inline float const &
az()
const {
return v[2]; }
81 inline float &
gx() {
return v[3]; }
82 inline float const &
gx()
const {
return v[3]; }
83 inline float &
gy() {
return v[4]; }
84 inline float const &
gy()
const {
return v[4]; }
85 inline float &
gz() {
return v[5]; }
86 inline float const &
gz()
const {
return v[5]; }
87 inline float &
temp() {
return v[6]; }
88 inline float const &
temp()
const {
return v[6]; }
89 inline float &
mx() {
return v[7]; }
90 inline float const &
mx()
const {
return v[7]; }
91 inline float &
my() {
return v[8]; }
92 inline float const &
my()
const {
return v[8]; }
93 inline float &
mz() {
return v[9]; }
94 inline float const &
mz()
const {
return v[9]; }
100 #define JEVOIS_DMP_ACCEL 0x8000
101 #define JEVOIS_DMP_GYRO 0x4000
102 #define JEVOIS_DMP_CPASS 0x2000
103 #define JEVOIS_DMP_ALS 0x1000
104 #define JEVOIS_DMP_QUAT6 0x0800
105 #define JEVOIS_DMP_QUAT9 0x0400
106 #define JEVOIS_DMP_PQUAT6 0x0200
107 #define JEVOIS_DMP_GEOMAG 0x0100
108 #define JEVOIS_DMP_PRESSURE 0x0080
109 #define JEVOIS_DMP_GYRO_CALIBR 0x0040
110 #define JEVOIS_DMP_CPASS_CALIBR 0x0020
111 #define JEVOIS_DMP_PED_STEPDET 0x0010
112 #define JEVOIS_DMP_HEADER2 0x0008
113 #define JEVOIS_DMP_PED_STEPIND 0x0007
115 #define JEVOIS_DMP_ACCEL_ACCURACY 0x4000
116 #define JEVOIS_DMP_GYRO_ACCURACY 0x2000
117 #define JEVOIS_DMP_CPASS_ACCURACY 0x1000
118 #define JEVOIS_DMP_FSYNC 0x0800
119 #define JEVOIS_DMP_FLIP_PICKUP 0x0400
120 #define JEVOIS_DMP_BATCH_MODE_EN 0x0100
121 #define JEVOIS_DMP_ACT_RECOG 0x0080
132 void parsePacket(
unsigned char const * packet,
size_t siz);
173 std::vector<std::string>
activity();
188 size_t DMPpacketSize(
unsigned short ctl1,
unsigned short ctl2);
short accelacc
Accelerometer accuracy data (when JEVOIS_DMP_ACCEL_ACCURACY in header2)
short gbias[3]
Raw gyro bias data (when JEVOIS_DMP_GYRO in header1)
short cpassacc
Compass accuracy data (when JEVOIS_DMP_CPASS_ACCURACY in header2)
unsigned short header2
Header 2 fields that indicate what data is valid.
long bacts
Activity recognition timestamp (when JEVOIS_DMP_ACT_RECOG in header2)
std::vector< std::string > activity2()
unsigned short bacstate
Activity recognition state (when JEVOIS_DMP_ACT_RECOG in header2)
short gyro[3]
Raw gyro data (when JEVOIS_DMP_GYRO in header1)
unsigned short odrcnt
Output data rate counter (always here but unclear what it is)
unsigned short header1
Header 1 fields that indicate what data is valid.
short accel[3]
Raw accelerometer data (when JEVOIS_DMP_ACCEL in header1)
float v[10]
The values: ax, ay, az, gy, gy, gz, temp, mx, my, mz.
std::vector< std::string > activity()
Decode current ongoing activities into a string.
short gyrobias[3]
Gyro bias/calibration data (when JEVOIS_DMP_GYRO_CALIBR in header1)
unsigned short fsync
Delay between FSYNC received from camera and first subsequent IMU data generated.
float fsync_us() const
Delay between FSYNC and next IMU data, in microseconds.
const float & temp() const
long quat6[3]
Quaternion6 data (when JEVOIS_DMP_QUAT6 in header1)
unsigned long stepts
Step detection timestamp (when JEVOIS_DMP_PED_STEPDET)
long geomag[3]
Geomag data (when JEVOIS_DMP_GEOMAG in header1)
const short & mst2() const
size_t DMPpacketSize(unsigned short ctl1, unsigned short ctl2)
Helper function to determine DMP packet size depending on options.
long geomagacc
Geomag accuracy (when JEVOIS_DMP_GEOMAG in header1)
long cpasscal[3]
Compass calibration data (when JEVOIS_DMP_CPASS_CALIBR in header1)
static float fix2float(long val)
Convert a long fixed-point value to float.
short gyroacc
Gyro accuracy data (when JEVOIS_DMP_GYRO_ACCURACY in header2)
IMUdata(IMUrawData const &rd, double arange, double grange)
Construct from a raw data reading.
const short & temp() const
unsigned short steps
Number of steps (0..7) detected this cycle (when JEVOIS_DMP_PED_STEPDET)
DMP data (Digital Motion Processor)
long quat9acc
Quaternion9 accuracy (when JEVOIS_DMP_QUAT9 in header1)
short pickup
Flip/pickup detection (when JEVOIS_DMP_FLIP_PICKUP in header2)
long quat9[3]
Quaternion9 data (when JEVOIS_DMP_QUAT9 in header1)
void parsePacket(unsigned char const *packet, size_t siz)
Populate our fields from a packet received from the DMP.
short v[11]
The values: ax, ay, az, gy, gy, gz, temp, mx, my, mz, mst2.
short cpass[3]
Raw compass data (when JEVOIS_DMP_CPASS in header1)
bool magovf
True if magnetometer overflow.