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Jira509: modify the example of motion, zero-motion and freefall #199

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Jira509: modify the example of motion, zero-motion and freefall #199

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41 changes: 27 additions & 14 deletions libraries/CurieIMU/examples/ZeroMotionDetect/ZeroMotionDetect.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -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");
}
}

/*
Expand Down
12 changes: 1 addition & 11 deletions libraries/CurieIMU/src/CurieIMU.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -432,8 +432,6 @@ float CurieIMUClass::getDetectionThreshold(int feature)
return getTapDetectionThreshold();

case CURIE_IMU_STEP:
case CURIE_IMU_TAP_SHOCK:
case CURIE_IMU_TAP_QUIET:
case CURIE_IMU_DOUBLE_TAP:
case CURIE_IMU_FIFO_FULL:
case CURIE_IMU_DATA_READY:
Expand Down Expand Up @@ -466,8 +464,6 @@ void CurieIMUClass::setDetectionThreshold(int feature, float threshold)
break;

case CURIE_IMU_STEP:
case CURIE_IMU_TAP_SHOCK:
case CURIE_IMU_TAP_QUIET:
case CURIE_IMU_DOUBLE_TAP:
case CURIE_IMU_FIFO_FULL:
case CURIE_IMU_DATA_READY:
Expand Down Expand Up @@ -795,7 +791,7 @@ void CurieIMUClass::setDetectionDuration(int feature, float value)
break;

case CURIE_IMU_ZERO_MOTION:
setZeroMotionDetectionThreshold(value);
setZeroMotionDetectionDuration(value);
break;

case CURIE_IMU_TAP_QUIET:
Expand Down Expand Up @@ -1465,8 +1461,6 @@ void CurieIMUClass::enableInterrupt(int feature, bool enabled)
setIntDataReadyEnabled(enabled);
break;

case CURIE_IMU_TAP_QUIET:
case CURIE_IMU_TAP_SHOCK:
default:
break;
}
Expand Down Expand Up @@ -1502,8 +1496,6 @@ bool CurieIMUClass::interruptsEnabled(int feature)
case CURIE_IMU_DATA_READY:
return getIntDataReadyEnabled();

case CURIE_IMU_TAP_QUIET:
case CURIE_IMU_TAP_SHOCK:
default:
return false;
}
Expand Down Expand Up @@ -1539,8 +1531,6 @@ bool CurieIMUClass::getInterruptStatus(int feature)
case CURIE_IMU_DATA_READY:
return getIntDataReadyStatus();

case CURIE_IMU_TAP_QUIET:
case CURIE_IMU_TAP_SHOCK:
default:
return false;
}
Expand Down