Initial commit for new CurieImu Gyro/Accel library

Signed-off-by: Dan O'Donovan <dan@emutex.com>

Author: Dan-Lightsource

libraries/CurieImu/examples/RawImuDataSerial/RawImuDataSerial.ino

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+/*
+===============================================
+Example sketch for CurieImu library for Intel(R) Curie(TM) devices.
+Copyright (c) 2015 Intel Corporation.  All rights reserved.
+
+Based on I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050
+class by Jeff Rowberg: https://github.com/jrowberg/i2cdevlib
+
+===============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2011 Jeff Rowberg
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+
+#include "CurieImu.h"
+
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+
+// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated
+// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
+// not so easy to parse, and slow(er) over UART.
+#define OUTPUT_READABLE_ACCELGYRO
+
+// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit
+// binary, one right after the other. This is very fast (as fast as possible
+// without compression or data loss), and easy to parse, but impossible to read
+// for a human.
+//#define OUTPUT_BINARY_ACCELGYRO
+
+// uncomment "CALIBRATE_ACCELGRYO_OFFSETS" to perform auto-calibration of all 6 axes during start-up
+// This requires the device to be resting in a horizontal position during the start-up phase
+//#define CALIBRATE_ACCELGRYO_OFFSETS
+
+
+#define LED_PIN 13
+bool blinkState = false;
+
+void setup() {
+    // initialize Serial communication
+    Serial.begin(115200);
+
+    // initialize device
+    Serial.println("Initializing IMU device...");
+    CurieImu.initialize();
+
+    // verify connection
+    Serial.println("Testing device connections...");
+    Serial.println(CurieImu.testConnection() ? "CurieImu connection successful" : "CurieImu connection failed");
+
+#if CALIBRATE_ACCELGRYO_OFFSETS
+// use the code below to calibrate accel/gyro offset values
+    Serial.println("Internal sensor offsets BEFORE calibration...");
+    Serial.print(CurieImu.getXAccelOffset()); Serial.print("\t"); // -76
+    Serial.print(CurieImu.getYAccelOffset()); Serial.print("\t"); // -235
+    Serial.print(CurieImu.getZAccelOffset()); Serial.print("\t"); // 168
+    Serial.print(CurieImu.getXGyroOffset()); Serial.print("\t"); // 0
+    Serial.print(CurieImu.getYGyroOffset()); Serial.print("\t"); // 0
+    Serial.print(CurieImu.getZGyroOffset()); Serial.print("\t"); // 0
+    Serial.println("");
+
+// To manually configure offset compensation values, use the following methods instead of the autoCalibrate...() methods below
+//    CurieImu.setXGyroOffset(220);
+//    CurieImu.setYGyroOffset(76);
+//    CurieImu.setZGyroOffset(-85);
+//    CurieImu.setXAccelOffset(-76);
+//    CurieImu.setYAccelOffset(--235);
+//    CurieImu.setZAccelOffset(168);
+
+    // IMU device must be resting in a horizontal position for the following calibration procedure to work correctly!
+    Serial.print("Starting Gyroscope calibration...");
+    CurieImu.autoCalibrateGyroOffset();
+    Serial.println(" Done");
+    Serial.print("Starting Acceleration calibration...");
+    CurieImu.autoCalibrateXAccelOffset(0);
+    CurieImu.autoCalibrateYAccelOffset(0);
+    CurieImu.autoCalibrateZAccelOffset(1);
+    Serial.println(" Done");
+
+    Serial.println("Internal sensor offsets AFTER calibration...");
+    Serial.print(CurieImu.getXAccelOffset()); Serial.print("\t"); // -76
+    Serial.print(CurieImu.getYAccelOffset()); Serial.print("\t"); // -2359
+    Serial.print(CurieImu.getZAccelOffset()); Serial.print("\t"); // 1688
+    Serial.print(CurieImu.getXGyroOffset()); Serial.print("\t"); // 0
+    Serial.print(CurieImu.getYGyroOffset()); Serial.print("\t"); // 0
+    Serial.print(CurieImu.getZGyroOffset()); Serial.print("\t"); // 0
+    Serial.println("");
+    
+    Serial.println("Enabling Gyroscope/Acceleration offset compensation");
+    CurieImu.setGyroOffsetEnabled(true);
+    CurieImu.setAccelOffsetEnabled(true);
+#endif
+
+    // configure Arduino LED for
+    pinMode(LED_PIN, OUTPUT);
+}
+
+void loop() {
+    // read raw accel/gyro measurements from device
+    CurieImu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+
+    // these methods (and a few others) are also available
+    //CurieImu.getAcceleration(&ax, &ay, &az);
+    //CurieImu.getRotation(&gx, &gy, &gz);
+
+    #ifdef OUTPUT_READABLE_ACCELGYRO
+        // display tab-separated accel/gyro x/y/z values
+        Serial.print("a/g:\t");
+        Serial.print(ax); Serial.print("\t");
+        Serial.print(ay); Serial.print("\t");
+        Serial.print(az); Serial.print("\t");
+        Serial.print(gx); Serial.print("\t");
+        Serial.print(gy); Serial.print("\t");
+        Serial.println(gz);
+    #endif
+
+    #ifdef OUTPUT_BINARY_ACCELGYRO
+        Serial.write((uint8_t)(ax >> 8)); Serial.write((uint8_t)(ax & 0xFF));
+        Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
+        Serial.write((uint8_t)(az >> 8)); Serial.write((uint8_t)(az & 0xFF));
+        Serial.write((uint8_t)(gx >> 8)); Serial.write((uint8_t)(gx & 0xFF));
+        Serial.write((uint8_t)(gy >> 8)); Serial.write((uint8_t)(gy & 0xFF));
+        Serial.write((uint8_t)(gz >> 8)); Serial.write((uint8_t)(gz & 0xFF));
+    #endif
+
+    // blink LED to indicate activity
+    blinkState = !blinkState;
+    digitalWrite(LED_PIN, blinkState);
+}

libraries/CurieImu/examples/RawImuDataSerial/RawImuDataSerial.txt

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+Continuously reads raw accelerometer and gyroscope data values and prints them to the Serial port

libraries/CurieImu/library.properties

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+name=CurieImu
+version=1.0
+author=Emutex
+maintainer=Emutex <dan@emutex.com>
+sentence=BMI160 6DOF IMU Sensor Library for Intel Curie
+paragraph=Provides access to 3-axis Accelerometer and Gyroscope data from the BMI160 IMU incorporated on Intel Curie modules
+url=
+architectures=arc32
+