curie: step count implemented

Signed-off-by: deadprogram <ron@hybridgroup.com>

examples/firmata_curie_imu_step_counter.go

@@ -0,0 +1,41 @@
+// +build example
+//
+// Do not build by default.
+
+package main
+
+import (
+	"log"
+	"time"
+
+	"gobot.io/x/gobot"
+	"gobot.io/x/gobot/drivers/gpio"
+	"gobot.io/x/gobot/platforms/firmata"
+	"gobot.io/x/gobot/platforms/intel-iot/curie"
+)
+
+func main() {
+	firmataAdaptor := firmata.NewAdaptor("/dev/ttyACM0")
+	led := gpio.NewLedDriver(firmataAdaptor, "13")
+	imu := curie.NewIMUDriver(firmataAdaptor)
+
+	work := func() {
+		imu.On("Steps", func(data interface{}) {
+			log.Println("Steps", data)
+		})
+
+		gobot.Every(1*time.Second, func() {
+			led.Toggle()
+		})
+
+		imu.EnableStepCounter(true)
+	}
+
+	robot := gobot.NewRobot("blinkmBot",
+		[]gobot.Connection{firmataAdaptor},
+		[]gobot.Device{imu, led},
+		work,
+	)
+
+	robot.Start()
+}

platforms/intel-iot/curie/imu_driver.go

@@ -75,6 +75,10 @@ func (imu *IMUDriver) Start() (err error) {
 				val, _ := parseShockData(data)
 				imu.Publish("Shock", val)
 
+			case CURIE_IMU_STEP_COUNTER:
+				val, _ := parseStepData(data)
+				imu.Publish("Steps", val)
+
 			}
 		}
 	})
@@ -113,7 +117,7 @@ func (imu *IMUDriver) ReadTemperature() error {
 	return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_READ_TEMP})
 }
 
-// EnableShockDetection turns on the Curie's built-in shock detection.
+// EnableShockDetection turns on/off the Curie's built-in shock detection.
 // The result will be returned by the Sysex response message
 func (imu *IMUDriver) EnableShockDetection(detect bool) error {
 	var d byte
@@ -123,6 +127,16 @@ func (imu *IMUDriver) EnableShockDetection(detect bool) error {
 	return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_SHOCK_DETECT, d})
 }
 
+// EnableStepCounter turns on/off the Curie's built-in step counter.
+// The result will be returned by the Sysex response message
+func (imu *IMUDriver) EnableStepCounter(count bool) error {
+	var c byte
+	if count {
+		c = 1
+	}
+	return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_STEP_COUNTER, c})
+}
+
 func parseAccelerometerData(data []byte) (*AccelerometerData, error) {
 	if len(data) < 9 {
 		return nil, errors.New("Invalid data")
@@ -166,3 +180,12 @@ func parseShockData(data []byte) (*ShockData, error) {
 	res := &ShockData{Axis: data[3], Direction: data[4]}
 	return res, nil
 }
+
+func parseStepData(data []byte) (int16, error) {
+	if len(data) < 6 {
+		return 0, errors.New("Invalid data")
+	}
+
+	res := int16(uint16(data[3]) | uint16(data[4])<<7)
+	return res, nil
+}