Merge branch 'release-2.8.1'

Author: Stephen Schiffli

Docs/gen_api_reference.sh

@@ -1,4 +1,4 @@
-appledoc -p "MetaWear iOS/macOS/tvOS API 2.8.0" --project-version "2.8.0" -c "MBIENTLAB INC" --company-id com.mbientlab --no-create-docset --no-repeat-first-par --ignore .m -o . ../MetaWear/Classes
+appledoc -p "MetaWear iOS/macOS/tvOS API 2.8.1" --project-version "2.8.1" -c "MBIENTLAB INC" --company-id com.mbientlab --no-create-docset --no-repeat-first-par --ignore .m -o . ../MetaWear/Classes
 open html/index.html
 
 make html

Docs/source/conf.py

@@ -55,9 +55,9 @@
 # built documents.
 #
 # The short X.Y version.
-version = '2.8.0'
+version = '2.8.1'
 # The full version, including alpha/beta/rc tags.
-release = '2.8.0'
+release = '2.8.1'
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.

Docs/source/sensor_fusion.rst

@@ -3,10 +3,24 @@
 Sensor Fusion
 =============
 
-The MetaMotion family of boards comes with a builtin Sensor Fusion algorithm.  It's configured via properties on the `MBLSensorFusion <https://www.mbientlab.com/docs/metawear/ios/latest/Classes/MBLSensorFusion.html>`_ class.
+The MetaMotion family of boards comes with a builtin Sensor Fusion algorithm.  It's configured via properties on the `MBLSensorFusion <https://www.mbientlab.com/docs/metawear/ios/latest/Classes/MBLSensorFusion.html>`_ class.  When using the sensor fusion algorithm, it is important that you do not simultaenously use the Accelerometer, Gyro, and Magnetometer modules; the algorithm configures those sensors internally based on how you configure the sensor fusion algorithm.
 
 As explained `here <http://www.chrobotics.com/library/attitude-estimation>`_.  When estimating attitude and heading, the best results are obtained by combining data from multiple types of sensors to take advantage of their relative strengths. For example, rate gyros can be integrated to produce angle estimates that are reliable in the short-term, but that tend to drift in the long-term. Accelerometers, on the other hand, are sensitive to vibration and other non-gravity accelerations in the short-term, but can be trusted in the long-term to provide angle estimates that do no degrade as time progresses.  Combining rate gyros and accelerometers can produce the best of both worlds - angle estimates that are resistant to vibration and immune to long-term angular drift.
 
+Mode
+----
+The sensor fusion algorithm has 4
+`fusion modes <https://mbientlab.com/docs/metawear/ios/latest/Constants/MBLSensorFusionMode.html>`_, listed in the below table:
+
+======== ==========================================================================
+Mode     Description
+======== ==========================================================================
+NDoF     Calculates absolute roeintation from accelerometer, gyro, and magnetometer
+IMUPlus  Calculates relative orientation in space from accelerometer and gyro data
+Compass  Determines geographic direction from th Earth's magnetic field
+M4G      Similar to IMUPlus except rotation is detected with the magnetometer
+======== ==========================================================================
+
 Attitude and Heading
 --------------------
 
@@ -46,7 +60,16 @@ This looks at the acceleration due to motion and removes the acceleration due to
 Corrected Sensor Readings
 -------------------------
 
-Sensor fusion algorithms are able to use the strengths of various sensors to improve the weaknesses of others.  This allows us to extract more accurate readings of sensor values.
+Sensor fusion algorithms are able to use the strengths of various sensors to improve the weaknesses of others.  This allows us to extract more accurate readings of sensor values.  Keep in mind that each sensor fusion mode has different sets of available data and produces it at different rates.
+
+======== ===== ===== ====
+Mode     Acc   Gyro  Mag
+======== ===== ===== ====
+NDoF     100Hz 100Hz 25Hz
+IMUPlus  100Hz 100Hz N/A
+Compass  25Hz  N/A   25Hz
+M4G      50Hz  N/A   50Hz
+======== ===== ===== ====
 
 ::
 

MetaWear.podspec

@@ -1,6 +1,6 @@
 Pod::Spec.new do |s|
   s.name               = 'MetaWear'
-  s.version            = '2.8.0'
+  s.version            = '2.8.1'
   s.license            = { :type => 'Commercial', :text => 'See https://www.mbientlab.com/terms/', :file => 'LICENSE' }
   s.homepage           = 'https://mbientlab.com'
   s.summary            = 'iOS/macOS/tvOS API and documentation for the MetaWear platform'

MetaWear/Classes/Core/MBLConstants.h

@@ -70,7 +70,8 @@ typedef NS_ENUM(uint8_t, MBLFirmwareVersion) {
     MBLFirmwareVersion1_2_3,
     MBLFirmwareVersion1_2_4,
     MBLFirmwareVersion1_2_5,
-    MBLFirmwareVersion1_3_0
+    MBLFirmwareVersion1_3_0,
+    MBLFirmwareVersion1_3_1
 };
 NSString *MBLFirmwareVersionString(MBLFirmwareVersion version);
 

MetaWear/Classes/Core/MBLConstants.m

@@ -36,7 +36,7 @@
 #import "MBLConstants.h"
 #import "MBLConstants+Private.h"
 
-NSString *const kMBLAPIVersion = @"2.8.0";
+NSString *const kMBLAPIVersion = @"2.8.1";
 
 NSString *MBLFirmwareVersionString(MBLFirmwareVersion version)
 {
@@ -69,6 +69,8 @@
             return @"1.2.5";
         case MBLFirmwareVersion1_3_0:
             return @"1.3.0";
+        case MBLFirmwareVersion1_3_1:
+            return @"1.3.1";
     }
 }
 

MetaWear/Classes/Core/MBLEvent.m

@@ -804,6 +804,51 @@ - (MBLFilter *)changeOfEventAcrossThreshold:(double)threshold hysteresis:(double
 }
 
 
+typedef struct __attribute__((packed)) {
+    uint8_t      filter_id;
+    uint8_t      outputlen:2;
+    uint8_t      inputlen:2;
+    uint8_t      inputcount:3;
+    uint8_t      issigned:1;
+    uint8_t      mode:3;
+} df_rms_param_t;
+
+static const int RMS_MODE_RMS = 0;
+static const int RMS_MODE_RSS = 1;
+
+- (MBLFilter *)rmsOfEventWithInputLength:(uint8_t)inputLength inputCount:(uint8_t)inputCount format:(MBLFormat *)format
+{
+    df_rms_param_t params = {0};
+    params.filter_id = 7;
+    params.outputlen = 4 - 1;
+    params.inputlen = inputLength - 1;
+    params.inputcount = inputCount - 1;
+    params.issigned = YES;
+    params.mode = RMS_MODE_RMS;
+    
+    MBLFilter *filter = [[MBLFilter alloc] initWithTrigger:self
+                                          filterParameters:[NSData dataWithBytes:&params length:sizeof(df_rms_param_t)]
+                                                    format:format];
+    return filter;
+}
+
+- (MBLFilter *)rssOfEventWithInputLength:(uint8_t)inputLength inputCount:(uint8_t)inputCount format:(MBLFormat *)format
+{
+    df_rms_param_t params = {0};
+    params.filter_id = 7;
+    params.outputlen = 4 - 1;
+    params.inputlen = inputLength - 1;
+    params.inputcount = inputCount - 1;
+    params.issigned = YES;
+    params.mode = RMS_MODE_RSS;
+    
+    MBLFilter *filter = [[MBLFilter alloc] initWithTrigger:self
+                                          filterParameters:[NSData dataWithBytes:&params length:sizeof(df_rms_param_t)]
+                                                    format:format];
+    return filter;
+}
+
+
 - (MBLEvent *)readDataOnEvent:(MBLData *)data
 {
     return [[MBLTriggeredRead alloc] initWithData:data trigger:self];

MetaWear/Classes/Modules/Accelerometer/AccelerometerBosch/AccelerometerBMI160/MBLAccelerometerBMI160.m

@@ -44,7 +44,6 @@
 #import "MBLAccelerometerBoschFlatEvent.h"
 #import "MBLAccelerometerBMI160StepEvent.h"
 #import "MBLAccelerometerBMI160MotionEvent+Private.h"
-#import "MBLRMSAccelerometerDataFilter.h"
 #import "MBLFormat.h"
 #import "MBLNumericFormatter.h"
 #import "MBLData+Private.h"

MetaWear/Classes/Modules/Accelerometer/AccelerometerBosch/MBLAccelerometerBosch.m

@@ -42,11 +42,11 @@
 #import "MBLAccelerometerBoschTapEvent.h"
 #import "MBLAccelerometerBoschFlatEvent.h"
 #import "MBLAccelerometerBMI160StepEvent.h"
-#import "MBLRMSAccelerometerDataFilter.h"
 #import "MBLFormat.h"
 #import "MBLNumericFormatter.h"
 #import "MBLData+Private.h"
 #import "bmi160.h"
+#import "MBLAccelerometerBoschRMSFormat.h"
 
 @interface MBLAccelerometerBosch ()
 @property (nonatomic) MBLRegister *accelDataConfig;
@@ -69,7 +69,7 @@ - (instancetype)initWithDevice:(MBLMetaWear *)device moduleInfo:(MBLModuleInfo *
         self.xAxisReadyEvent = [[MBLAccelerometerBoschAxisReadyEvent alloc] initWithAccelerometer:self axis:MBLAccelerometerAxisX];
         self.yAxisReadyEvent = [[MBLAccelerometerBoschAxisReadyEvent alloc] initWithAccelerometer:self axis:MBLAccelerometerAxisY];
         self.zAxisReadyEvent = [[MBLAccelerometerBoschAxisReadyEvent alloc] initWithAccelerometer:self axis:MBLAccelerometerAxisZ];
-        self.rmsDataReadyEvent = [[MBLRMSAccelerometerDataFilter alloc] initWithAccelerometerBosch:self];
+        self.rmsDataReadyEvent = [self.dataReadyEvent rmsOfEventWithInputLength:2 inputCount:3 format:[[MBLAccelerometerBoschRMSFormat alloc] initWithAccelerometer:self]];
 
         // Default settings
         self.fullScaleRange = MBLAccelerometerBoschRange16G;

MetaWear/Classes/Modules/Accelerometer/MBLAccelerometer.m

@@ -46,7 +46,6 @@
 #import "MBLAccelerometerOrientationEvent.h"
 #import "MBLAccelerometerTapEvent.h"
 #import "MBLAccelerometerShakeEvent.h"
-#import "MBLRMSAccelerometerDataFilter.h"
 #import "MBLAccelerometerData+Private.h"
 #import "MBLAccelerometerAxisReadyEvent.h"