Merge remote-tracking branch 'upstream/master'

Author: sgbihu

README.md

@@ -21,6 +21,12 @@ Future upgrades may fail since the internal contents were modified by hand. In
 order to recover, shut down the IDE, delete the entire `Arduino15` directory,
 then restart the IDE.
 
+# Pull Requests
+
+Before submitting a pull request, please see our
+[guidelines](https://github.com/01org/corelibs-arduino101/wiki/Writing-a-commit-message)
+for writing a considerate commit message.
+
 # Support & Issues
 
 If you have found a bug, or you believe a new feature should be added, please
@@ -64,4 +70,4 @@ If you want to enable debug trace on Serail1 to debug corelib,  follow these ins
   * Find `compiler.cpp.flags` and add `-DCONFIGURE_DEBUG_CORELIB_ENABLED` at the end of this line
 4. Initial Serial1 in your sketch
   * Add `Serial1.begin(115200);` in your `setup()`
-5. Adjust the output level at log_init function in log.c
+5. Adjust the output level at log_init function in log.c

cores/arduino/i2c.c

@@ -48,7 +48,8 @@ static void ss_i2c_err(uint32_t dev_id)
 	i2c_err_source = dev_id;
 }
 
-static int wait_rx_or_err(bool no_stop){
+static int wait_rx_or_err()
+{
 	uint64_t timeout = TIMEOUT_MS * 200;
 	while(timeout--) {
 		if (i2c_err_detect) {
@@ -65,20 +66,17 @@ static int wait_rx_or_err(bool no_stop){
 				return I2C_ERROR_OTHER; // other error
 			}
 		}
-		if (!no_stop) {
-			if (i2c_rx_complete) {
-				return I2C_OK;
-			}
+		if (i2c_rx_complete) {
+			return I2C_OK;
 		}
 		delayMicroseconds(10);
 	}
-	if (!no_stop)
-		return I2C_TIMEOUT;
-	else
-		return I2C_OK;
+
+	return I2C_TIMEOUT;
 }
 
-static int wait_tx_or_err(bool no_stop){
+static int wait_tx_or_err()
+{
 	uint64_t timeout = TIMEOUT_MS * 200;
 	while(timeout--) {
 		if (i2c_err_detect) {
@@ -95,17 +93,12 @@ static int wait_tx_or_err(bool no_stop){
 				return I2C_ERROR_OTHER; // other error
 			}
 		}
-		if (!no_stop) {
-			if (i2c_tx_complete) {
+		if (i2c_tx_complete) {
 			return I2C_OK;
-			}
 		}
 		delayMicroseconds(10);
 	}
-	if (!no_stop)
-		return I2C_TIMEOUT;
-	else
-		return I2C_OK;
+	return I2C_TIMEOUT;
 }
 
 static int wait_dev_ready(I2C_CONTROLLER controller_id, bool no_stop){
@@ -116,9 +109,13 @@ static int wait_dev_ready(I2C_CONTROLLER controller_id, bool no_stop){
 		if (ret == I2C_OK) {
 			return I2C_OK;
 		}
-		if (ret == I2C_BUSY) {
+		else if (ret == I2C_BUSY) {
 			delayMicroseconds(10);
 		}
+		else
+		{
+			return I2C_TIMEOUT - ret;
+		}
 	}
 	return I2C_TIMEOUT - ret;
 }
@@ -202,7 +199,7 @@ int i2c_writebytes(uint8_t *bytes, uint8_t length, bool no_stop)
 	i2c_err_detect = 0;
 	i2c_err_source = 0;
 	ss_i2c_transfer(I2C_SENSING_0, bytes, length, 0, 0, i2c_slave, no_stop);
-	ret = wait_tx_or_err(no_stop);
+	ret = wait_tx_or_err();
 	if (ret)
 		return ret;
 	ret = wait_dev_ready(I2C_SENSING_0, no_stop);
@@ -219,7 +216,7 @@ int i2c_readbytes(uint8_t *buf, int length, bool no_stop)
 	i2c_err_detect = 0;
 	i2c_err_source = 0;
 	ss_i2c_transfer(I2C_SENSING_0, 0, 0, buf, length, i2c_slave, no_stop);
-	ret = wait_rx_or_err(no_stop);
+	ret = wait_rx_or_err();
 	if (ret)
 		return ret;
 	ret = wait_dev_ready(I2C_SENSING_0, no_stop);

libraries/CurieIMU/examples/Accelerometer/Accelerometer.ino

@@ -23,16 +23,10 @@ void setup() {
 }
 
 void loop() {
-  int axRaw, ayRaw, azRaw;         // raw accelerometer values
-  float ax, ay, az;
+  float ax, ay, az;   //scaled accelerometer values
 
-  // 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);
+  // read accelerometer measurements from device, scaled to the configured range
+  CurieIMU.readAccelerometerScaled(ax, ay, az);
 
   // display tab-separated accelerometer x/y/z values
   Serial.print("a:\t");
@@ -44,16 +38,6 @@ void loop() {
   Serial.println();
 }
 
-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;
-}
-
 /*
    Copyright (c) 2016 Intel Corporation.  All rights reserved.
 

libraries/CurieIMU/examples/Gyro/Gyro.ino

@@ -23,16 +23,10 @@ void setup() {
 }
 
 void loop() {
-  int gxRaw, gyRaw, gzRaw;         // raw gyro values
-  float gx, gy, gz;
+  float gx, gy, gz; //scaled Gyro values
 
-  // 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);
+  // read gyro measurements from device, scaled to the configured range
+  CurieIMU.readGyroScaled(gx, gy, gz);
 
   // display tab-separated gyro x/y/z values
   Serial.print("g:\t");
@@ -44,16 +38,6 @@ void loop() {
   Serial.println();
 }
 
-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;
-}
-
 /*
    Copyright (c) 2016 Intel Corporation.  All rights reserved.
 

libraries/CurieIMU/examples/ZeroMotionDetect/ZeroMotionDetect.ino

@@ -9,40 +9,53 @@
 */
 #include "CurieIMU.h"
 
-boolean blinkState = false;          // state of the LED
-unsigned long loopTime = 0;          // get the time since program started
-unsigned long interruptsTime = 0;    // get the time when zero motion event is detected
+boolean ledState = false;          // state of the LED
 void setup() {
   Serial.begin(9600);
   while(!Serial);   // wait for the serial port to open
 
   /* Initialise the IMU */
-  blinkState = CurieIMU.begin();
+  CurieIMU.begin();
   CurieIMU.attachInterrupt(eventCallback);
 
   /* Enable Zero Motion Detection */
-  CurieIMU.setDetectionThreshold(CURIE_IMU_ZERO_MOTION, 1500); // 1.5g=1500mg
-  CurieIMU.setDetectionDuration(CURIE_IMU_ZERO_MOTION, 25);    // 25s
+  CurieIMU.setDetectionThreshold(CURIE_IMU_ZERO_MOTION, 50);  // 50mg
+  CurieIMU.setDetectionDuration(CURIE_IMU_ZERO_MOTION, 2);    // 2s
   CurieIMU.interrupts(CURIE_IMU_ZERO_MOTION);
 
+  /* Enable Motion Detection */
+  CurieIMU.setDetectionThreshold(CURIE_IMU_MOTION, 20);      // 20mg
+  CurieIMU.setDetectionDuration(CURIE_IMU_MOTION, 10);       // trigger times of consecutive slope data points
+  CurieIMU.interrupts(CURIE_IMU_MOTION);
+
   Serial.println("IMU initialisation complete, waiting for events...");
 }
 
 void loop() {
-  //if zero motion is detected in 1500ms, LED will be turned up
-  loopTime = millis();
-  if(abs(loopTime -interruptsTime) < 1500)     
-    blinkState = true;
-  else
-    blinkState = false;
-  digitalWrite(13, blinkState);
+  // if zero motion is detected, LED will be turned up. 
+  digitalWrite(13, ledState);
 }
 
 static void eventCallback(void){
   if (CurieIMU.getInterruptStatus(CURIE_IMU_ZERO_MOTION)) {
-    interruptsTime = millis(); 
+    ledState = true; 
     Serial.println("zero motion detected...");
   }  
+  if (CurieIMU.getInterruptStatus(CURIE_IMU_MOTION)) {
+    ledState = false;
+    if (CurieIMU.motionDetected(X_AXIS, POSITIVE))
+      Serial.println("Negative motion detected on X-axis");
+    if (CurieIMU.motionDetected(X_AXIS, NEGATIVE))
+      Serial.println("Positive motion detected on X-axis");
+    if (CurieIMU.motionDetected(Y_AXIS, POSITIVE))
+      Serial.println("Negative motion detected on Y-axis");
+    if (CurieIMU.motionDetected(Y_AXIS, NEGATIVE))
+      Serial.println("Positive motion detected on Y-axis");
+    if (CurieIMU.motionDetected(Z_AXIS, POSITIVE))
+      Serial.println("Negative motion detected on Z-axis");
+    if (CurieIMU.motionDetected(Z_AXIS, NEGATIVE))
+      Serial.println("Positive motion detected on Z-axis");
+  }  
 }
 
 /*

libraries/CurieIMU/keywords.txt

@@ -59,11 +59,14 @@ setStepCountEnabled	KEYWORD1
 resetStepCount	KEYWORD1
 
 readMotionSensor	KEYWORD1
+readMotionSensorScaled	KEYWORD1
 readAcceleration	KEYWORD1
 readRotation	KEYWORD1
 
 readAccelerometer	KEYWORD1
+readAccelerometerScaled KEYWORD1
 readGyro	KEYWORD1
+readGyroScaled	KEYWORD1
 readTemperature	KEYWORD1
 
 shockDetected	KEYWORD1

libraries/CurieIMU/src/BMI160.h

@@ -35,6 +35,9 @@ THE SOFTWARE.
 
 #include "Arduino.h"
 
+#define BMI160_SENSOR_RANGE         65535.0f
+#define BMI160_SENSOR_LOW           32768.0f
+
 #define BMI160_SPI_READ_BIT         7
 
 #define BMI160_RA_CHIP_ID           0x00