Invensense Contextual Awareness-SDK 5.1.1 User Guide - Digi-Key
Contents
1. case 8 Toggles Accel sensor case 9 Toggles Gyro sensor case 0 Toggles Compass sensor case a Prints Accel sensor case g Prints Gyro sensor case c Prints Compass sensor CONFIDENTIAL amp PROPRIETARY 13 of 19 D t Number n venSense InvenSense CA SDK 5 1 1 User Guide econ 1 D 7 Release 1 0 Release Date 04 01 2013 case e Prints Eular data in radius case r Prints Rotational Matrix data case q Prints Quaternion case h Prints Heading in degrees case k Prints Pressure Temperature UV Light Humidity case m Start Stop Magnetic disturbance algorithm case n Get eMA version case w Get Compass status and Accuracy case t Run Calibration case 1 to case 4 Slow down or speed up the rate of sensors case x reset msp430 case v Toggle LP quaternion For more cases refer to eMA 5 1 1 Source code in handle_user function CTLR S Start logging CTLR T Stop logging The files will be saved in Logs folder created in your python script location To Note 1 For logging to start user needs to have at least one sensor display enabled 2 Incase a sensor is running on startup of eMA Client py first use invx to go to default setting It is needed for logging data 3 Sensors need to be enabled on start of python script and if they are running already the program is not in default setting and their data will not be saved in logs 4 When logging has started2. architecture provides customers with a much more modular MotionTracking solution that consumes much less application processor resources improving the overall power consumption There are three basic components in this architecture e Embedded Hardware Abstraction Layer HAL a This is the central point of communication between eMA device drivers and the applications b HAL provides function calls to initialize enable start stop and control all features in eMA Please refer to 2 for further details e Embedded MotionProcessing Library eMPL a eMA provides a plug in framework for single function features e g gyro bias calibration 9 axis MotionFusion etc b eMA provides a well defined flow to register unregister initialization start stop and generate features Please refer to 2 for further details e Embedded Motion Driver a Device drivers for all supported InvenSense sensors 6 4 Calibration and Self test Embedded MotionApps consists of the following Key calibration and self test features Calibration e Calibration for gyro bias Fastno motion lt 1 second convergence time Standard no motion 8 second convergence time SW temperature compensation e InvenSense proprietary compass calibration Standard fit Vector CONFIDENTIAL amp PROPRIETARY 15 of 19 D t Number n venSense InvenSense CA SDK 5 1 1 User Guide econ 1 D 7 Release 1 0 Release Date 04 01 2013 Small Motion using gy
3. InvenSense Inc Document Number AN MPU 9150IMF 03 In venSense 1197 Borregas Ave Sunnyvale CA 94089 U S A Revision 1 0 Tel 1 408 988 7339 Fax 1 408 988 8104 l Release Date 04 01 2013 Website www invensense com InvenSense Contextual Awareness SDK 5 1 1 User Guide Release 1 0 A printed copy of this document is NOT UNDER REVISION CONTROL unless it is dated and stamped in red ink as REVISION CONTROLLED COPY This information furnished by InvenSense is believed to be accurate and reliable However no responsibility is assumed by InvenSense for its use or for any infringements or patents or other rights of third parties that may result from its use Specifications are subject to change without notice Certain intellectual property owned by InvenSense and described in this document is patent protected No license is granted by Implication or otherwise under any patent or patent rights of InvenSense This is an unpublished work protected under the United States CONFIDENTIAL amp PROPRIETARY D t Number n venSense InvenSense CA SDK 5 1 1 User Guide econ 1 D 7 Release 1 0 Release Date 04 01 2013 copyright laws This work contains proprietary and confidential information of InvenSense Inc Use disclosure or reproduction without the express written authorization of InvenSense Inc is prohibited Trademarks that are registered trademarks are the property of their respective companies This publi
4. Y 17 of 19 D t Number n vensense InvenSense CA SDK 5 1 1 User Guide Revision 1 o j Release 1 0 Release Date 04 01 2013 Import Select S Imports existing CCS CCE Eclipse projects into workspace t Select an import source type filter text General E C C 4 amp Code Composer Studio E Existing CCS CCE Eclipse Projects Legacy CCSv3 3 Projects I Managed Build Macros amp Git amp Install amp Run Debug Team gt lt Back Next gt Finish Cancel Figure 6 9 1 Open the existing project and put it in the project CONFIDENTIAL amp PROPRIETARY 18 of 19 D t Number n venSense InvenSense CA SDK 5 1 1 User Guide econ 1 D 7 Release 1 0 Release Date 04 01 2013 6 8 Review of the mllite_test c File to Build a Sample Application with Embedded MotionApps 5 1 1 The file is self explanatory in terms of inline documentation and therefore we will go through the important steps only This example application program is designed to continuously transfer quaternion data at 50Hz update rate The value of the quaternion is transmitted to the UART port and then transferred via Bluetooth module The previous section shows how to use the program with PC applications e msp430_clock_init 12000000L 2 msp430_i2c_enable msp430_int_enable msp430_uart_init is needed to setup the system layer functions This will enable the I2C clo
5. andsorassietereianniines 11 5 1 FARE SE WUE a a a a a cl mipnpenanosaaatoveetanliaisanenanees 11 5 2 SOFTWARE SETUP TO RUN THE DEMO APPLICATION 0sccccceecceccesecceceeeceecauecesseeeceeceeuceeecaugeeessuseeessaeeeesaees 12 5 3 US RIN UT renr E E har pnmelemadtearadan 13 6 PROGRAMMING THE SDK siisii R 15 6 1 FEN AR a E eideuuimmitonstadsaamaienacaduc tn cnadudok iia 15 6 2 HOW TO USE EMA 5 1 1 FEATURES AND INTEGRATE WITH AN APPLICATION ccccceescecceesceeeteeeeceeceeeeeseeeeeees 15 6 3 EMBEDDED MOTIONAPPS PLATFORM OVERVIEW sssscceccessssccecceesseceecceeeeeceeeseeueceseseueeseceeesseaeeceeesaaaneeees 15 6 4 CALIBRATION AND SELPOLES esiciasstedeeacitecceiiesaeneutotansdiconeieccantactaiaeabesssseneeaaniedecsiscasacenstactasaeateenseieeagsats 15 6 5 WET RAS OW POWER FEATURES lt sceractaneessen nceace sec rarasira n IAAT TEE ORAA an A Era ec AEA D AEEA A EEEE 16 6 6 COMPA TION T TUP e E A E E E 16 6 7 STEPS TO BRING UP THE PROJECT IN CODE COMPOSER STUDIO sccccsesceeceescceeceecesceeeceeeceueceesaeseeeesaeeeeeeaaes 16 6 8 REVIEW OF THE MLLITE_TEST C FILE TO BUILD A SAMPLE APPLICATION WITH EMBEDDED MOTIONAPPS 5 1 1 19 CONFIDENTIAL amp PROPRIETARY 2 of 19 Document Number InvenSense InvenSense CA SDK 5 1 1 User Guide Aa hae ion ere Release 1 0 1 Purpose and Scope This document describes the InvenSense CA SDK 5 1 1 User Guide It is intended as a guide for the user to run the CA SDK with the PC o
6. are is available in source code for developers to showcase on how to interface the APIs eMA v5 1 1 covers the MPU 9250 sensors which are the gyroscope accelerometer and magnetometer 4 4 InvenSense Sensor e InvenSense MPU 9250 A 3 axis gyroscope 3 axis accelerometer and 3 axis magnetometer integrated into a single package The eMA v5 1 1 API covers the integration and calibrations for the MPU 9250 4 5 External Sensors Datasheets can be found inside the CA SDK zip file available for download in the Developers Corner http www invensense com developers index php _r default CONFIDENTIAL amp PROPRIETARY 7 of 19 D t Number InvenSense InvenSense CA SDK 5 1 1 User Guide Revision 1 o j Release 1 0 Release Date 04 01 2013 e Sensirion SHT21 Temperature and humidity sensors CA SDK software provides the driver for retrieving the raw sensor data from the sensor e Capella CM36682 Light and proximity sensors CA SDK software provides the driver for retrieving the raw sensor data from the sensors The light sensor is provided as an interface example and the proximity sensor is disabled by default for power concerns e Capella CM3512 UVI ultra violet index sensor CA SDK software provides the driver for retrieving the UV index from the sensor e ALSP HSPPAO03Z2A Pressure sensor CA SDK software provides the driver for retrieving the pressure values The sensor_probe c file in the CA SDK software provides the need
7. cation supersedes and replaces all information previously supplied InvenSense sensors should not be used or sold for the development storing production and utilization of any conventional or mass destructive weapons or any other weapons or life threatening applications as well as to be used in any other life critical applications such as medical transportation aerospace nuclear undersea power disaster and crime prevention equipment Copyright 2011 InvenSense Corporation Table of Contents 1 PURPOSE AND SCOPE wiccscreccceerocecanca neces ee siccaewebeeseencdeucactasaandewsicnessveeensswedeuseusevoneswuncncsosadnceecenuscessbedecuanensees 3 2 REVISION HISTORY eoan Ea Eaa 3 3 REFERENCE DOCUMENTS AND SOFTWARE PACKAGES cccccsceseseeeeeeeeeeeeneeeeeseeeeeseeeeseeeeseeesnsesseeeeesnenes 4 A AGASSI OG ee E E a EAE 5 4 1 ARTNA e e E E E E E E E E 5 4 2 SOFTWARE COMPONENTS NEEDED TO PROGRAM THE SDK cccssseceeceeseceeceeceecaueccessueceessaueeeeseueeeessegeeesseaes 6 4 3 SOTAA aha te eae cde ptr eterna i caine arte a rv aececcag omens gentn E natin saaain adtimneioaneeuneds ernnart 7 4 4 INVENSENSE SENSOR ssiccsnshorisivaingernsuataston siete enitiowsadansivabustunains iedananabe heniawatalansnaduiun sins a a EEEN 7 4 5 EE ETE RIN eSB OR 5 ac eect ance emcee cence Sesser eee vate eects emcee cece cn ence ee ese cece ee eenee E 7 5 HARDWARE AND SOFTWARE SE CUP vswsisnecsncscnnseataeninncsorsssioisteeunnuanonnvesinanerduanapuietaneinnnam
8. cks and UART functionality in the project Initial_Spi to enable flash read write e Itis very important to initialize using inv_init_mpl It should be called first and once e Starting eMA using inv_start_mpl will enable eMA Here are the major default values which are initialized There are other defaults sets as well o 20 Hz fifo output rate This is the default and can be changed o Range for accelerometer can be set using gyro_set_accel_fsr o Gyro range can be set using gyro_set_gyro_fsr e In this example application the MCU continuously transmits the data and is set in a loop Based on the application one can change the use case of the application e inv_execute_on_data will process the data it has received and update all the internal states and features that have been turned on This function should be called after at least one of inv_build_gyro inv_build_accel or inv_build_compass has been called e eMA_send_quat data this function packages the quaternion and sends it out using the UART module at 115200 baud rate 7 Known Issues 7 1 For MSP430 security Fuse blown http e2e ti com support microcontrollers msp430 f 166 t 166038 aspx http e2e ti com support microcontrollers msp430 f 166 t 121347 aspx 7 1 Default Frequency is 20 Hz frequencies above this with compass enabled will cause interruptions Future versions will address this issue CONFIDENTIAL amp PROPRIETARY 19 of 19
9. disabled The files will be saved in sdcard CA SDKClient Three log files will be created one for external sensors Pressure Humidity Light UV Temperature which is named sensors_TIME_external csv and another for other sensors named sensors_TIME csv The third file debug_TIME txt contains debugging Messages CONFIDENTIAL amp PROPRIETARY 10 of 19 Document Number Revision 1 0 Release Date 04 01 2013 InvenSense InvenSense CA SDK 5 1 1 User Guide Release 1 0 Python cube debug console app 2 The cube demo is written in python script and needs python installed on the computer This cube demo lets users do more than just observe the orientation For a complete set of functionality please look at Software Setup to Run the Demo Application in section 5 2 of this document or the python eMA client py script 5 Hardware and Software Setup 5 1 Hardware Setup Charge the unit via USB connector for 2 hours Turn on the SDK using the DIP switch on the board 1 Configure the Bluetooth interface on the PC Go to control Panel All Control Panel Items Devices and Printers then choose Add a device and choose blue BlueRadios device figure 4 1 0 2 Ifthe computer asks for the password enter default Zeros in numerical 3 The PC will add the required driver to successfully add the device to the PC 4 Go to the Control Panel All Control Panel Items Devices and Printers to properties and check the
10. ed APIs to retrieve the raw sensor data from the external sensors In the main function probe_setup_all_external_sensor will probe and if any setup is needed will setup the sensors The functions get_ lt sensor gt _data data retrieves the sensor data Function make_protocol packages these sensors to be sent out using USB or UART For further information or other configuration please refer to the datasheet for the external sensors Macronix Serial Flash Driver for MX25L25635E For information on the serial flash please refer to MX25L25635E LLD v0 3 zip on the Macronix website Also an example is given in test_flash function Demos Android client 1 This android application provides a way to evaluate the CA SDK board The example application can be downloaded from the play store Please click the following link The application works with Bluetooth connectivity y A new application CA SDK Clien has been installed iInvenSense CA SDK Client Figure 4 3 0 is the startup menu in the android application It gives an overview of present sensors The sensor values are collected from InvenSense the CA SDK board the methods for i calculating these values will be given shortly SENSORS DETAILS Nine Axis Tracking novation in MEMS Euler angles are updated using quaternion packets received from eMA 5 1 1 For more information on external Figure 4 3 0 sensors and how to calculate them please check Bluethoot
11. em if necessary You may need to wait for this to finish before your device is ready to use To verify if this device finished installing properly look for it in Devices and Printers BlueRadios This Bluetooth device offers the following services To use a service select the check box Bluetooth Services W Serial port SPP COMO COMES Figure 5 1 1 1 Right click the added device to go to properties and check the port number Step 4 5 2 Software Setup to Run the Demo Application Debug Console App Optional demo to run if needed eMA client py A debugging console application is provided to aid developers using the CA SDK This application is provided as Python source code It has the following functionality 1 Provides a console for MPL_LOG messages 2 Provides a simple cube demo for visualizing sensor fusion output Because the debug console is provided as Python source code the user will need to install the following components to have a working Python environment 1 Python 2 7 The debug console was tested with Python 2 7 on Windows 7 and Windows 8 Download it from http www python org download releases 2 7 4 2 Pyserial 2 6 The debug console requires pyserial to communicate on the serial port Download the Python 2 6 source code from https pypi python org pypi pyserial CONFIDENTIAL amp PROPRIETARY 12 of 19 Document Number InvenSense InvenSense CA SDK 5 1 1 U
12. hDataReader java class CONFIDENTIAL amp PROPRIETARY 8 of 19 D t Number InvenSense InvenSense CA SDK 5 1 1 User Guide econ 1 D 7 Release 1 0 Release Date 04 01 2013 Temperature Sensor Temperature temperature 256 temperature 1 Temperature float 46 85 175 72 Temperature 2 0 16 0 Humidity Sensor Humidity humidity 0 256 humidity 1 1 First remove the last three bits For Android float hex Integer parseInt FFF8 16 Humidity Float intBitsToFloat Float floatToRawIntBits Humidity amp Float floatToRawIntBits hex 2 Humidity float 6 125 Humidity 2 16 Light Sensor currLight light 256 light 1 currLight currLight 06103f Light currLight 8f Light 2f UV sensor UV uv 256 uv 1 UV UV 022f 10 CONFIDENTIAL amp PROPRIETARY 9 of 19 Figure 4 3 1 section consists of all commands the user can send to the CA SDK board On the right the cube uses quaternion data to rotate In the middle debugging information will be shown Document Number In venSense InvenSense CA SDK 5 1 1 User Guide Revision 1 0 Release 1 0 Release Date 04 01 2013 W InvenSense CA SDK Client SENSORS DETAILS Commands Messages Tracking Display E InvenSense Innovation in MEMS Figure 4 3 1 1 Enable some Display options and then click on Options gt start Logging 2 When logging the Display commands will be
13. port number of the Bluetooth serial port figure 5 1 1 1 In this example the port number is 66 but we will call it just COM from now on After successfully pairing power cycle the CA SDK once by flipping the DIP switch OFF and ON ce UP Add a device Q LP Adda device Select a device to add to this computer Enter the pairing code for the device Windows will continue to look for new devices and display them here This will verify that you are connecting to the correct device _ ArchBack TOSHIBA e STUDIO355 07290774 0000 A e UPnP 4 Web Services The code is either displayed on your device or in the information that gt Network storage device aa Printer came with the device NDIBRA 7 Q InvenSense_BT011 BlueRadios Bluetooth aL Bluetooth We Desktop computer Bluetooth headset BlueRadios Q InvenSense_BT003 cS Bluetooth Un Bluetooth Bluetooth headset Bluetooth headset MAYAT XP 3DUI LAB TEST1 sluetooth Bluetooth b O Configuring device What if Windows doesn t find my device What if I can t find the device pairing code Next Cancel Next CONFIDENTIAL amp PROPRIETARY 11 of 19 Document Number InvenSense InvenSense CA SDK 5 1 1 User Guide Revision 1 0 Release 1 0 Release Date 04 01 2013 zdp wy u Add a device This device has been successfully added to this computer Windows is now checking for drivers and will install th
14. r Android application 2 Revision History Revision Date Revision Description 04 01 2013 InvenSense CA SDK 5 1 1 User Guide CONFIDENTIAL amp PROPRIETARY 3 of 19 Document Number InvenSense InvenSense CA SDK 5 1 1 User Guide Revision 1 0 Release 1 0 Release Date 04 01 2013 3 Reference Documents and Software Packages 1 MPU 9250 CA SDK Reference Board User Guide General hardware guidelines for CA SDK board Embedded Motion Apps eMA v5 1 1 APIs Specification Document describes eMA v5 1 1 APIs CA SDK application A sample application running on CA SDK board showing how to use and configure eMA v5 1 1 4 Python eMA client A PC application to interface and configure CA SDK application 5 Android CA SDK client A android application to interface and configure CA SDK application CONFIDENTIAL amp PROPRIETARY 4 of 19 Document Number In venSense InvenSense CA SDK 5 1 1 User Guide Aa hae ion T Release 1 0 4 CA SDK SDK 4 1 Hardware Hardware Needed for Programming Using JTAG e CA SDK SDK http www invensense com developers MPU 9250 Bluetooth Module Humidity and Temperature sensor TEEREREREREH 4 Ko micis Micro USB a MSP430 MCU fel Ole oe x Lz az Pressure SENSOF ssm Light and proximity Sensor et m l UV sensor s Figure 4 1 0 MPU 9250 CA SDK Board Please refer to the MPU 9250 CA SDK Reference Board User G
15. ro Self test e Integrated MotionTracking device based self test for gyroscope in the MPU 9250 Refer to 2 for further details e Integrated MotionTracking device based self test for accelerometer in the MPU 9250 Refer to 2 for further details e Integrated MotionTracking device based self test for compass in the MPU 9250 Refer to 2 for further details e Self test is integrated into the respective device drivers Please refer to 2 for a brief description of individual calibration functions and recommended settings 6 5 Ultra Low Power Features The ultra low power features introduced in this release and listed below support fully autonomous operation completely independent from the application processor e DMP based pedometer e DMP based gestures Directional Tap Orientation including Flip Screen Orientation Low Power Quaternion e Low Power 6 Axis Sensor Fusion In general please refer to 2 on the description usage and integration of each of the above features 6 6 Compilation Setup The Embedded MotionApps Platform requires Code Composer Studio v4 0 or later and the default chip selected is MSP430F5528 which is the one on the CA SDK board 6 7 Steps to Bring Up the Project in Code Composer Studio e Download and install the Code Composer Studio from the TI website http www ti com tool ccstudio Please note that TI offers a free version of CCS which has restrictions on code size that makes it un
16. ser Guide Revision 1 0 Release 1 0 Release Date 04 01 2013 3 Pygame 1 9 1 The debug console uses the pygame library to render the cube demo Release for 86x http pygame orq ftp pygame 1 9 1 win32 py2 7 msi Pygame 1 9 2 windows binaries for 64x release from http www lfd uci edu gohlke pythonlibs pygame 4 You must install Python before installing the pyserial and pygame libraries After installing python use the command prompt to install pyserial command prompt needs to point to location of pyserial python install pyserial py 5 You will want to add Python to your PATH for convenience In Windows right click on My Computer select Properties then in the advanced tab and select Environment Variables In the user variables top section select Path click Edit and add the directory C Python27 to the end of the list 6 Once you have a working Python environment you can run the debug console application from the command line with the command To accept data one has to give the python location of the python cube relative to the release folder as below 7 CA SDK_With_eMA511_Release zip CA SDK_With_eMPA511_Release core eMA hal eMA Client 8 python eMA client py lt comport gt Where lt comport gt is the COM as described in figure 5 1 1 1 Figure 5 2 2 Cube Demo Application running on console 5 3 User Input To enable or disable certain functionalities first enter inv followed by following case
17. shipped does come with the option of pressing the button to put the CA SDK in BSL where the user can update their software using USB interface A similar interface is recommended for any software updates from the developer to make this feature available For the software shipped with CA SDK holding the button for two seconds with USB connected allows for BSL jump To be able to allow it in your program use this line of code void Q 0x1000 0 For more details refer to checkClick function in the source code and refer to this document 4 3 Software Firmware Embedded MotionApps 5 1 1 1 The CA SDK board comes with preloaded software which interfaces with eMA and outputs quaternion via a Bluetooth link The code is implemented using Code Composer Studio from TI The link below provides the documentation for Code Composer http rocessors wiki ti com index php Category Code Composer Studio v5 2 The default software settings for the CA SDK application can be changed according to the eMA v5 1 1 API Specification document Please check the mllite_test c file in the application release package for details of the implementation Quaternion Update Rate CA SDK Software To integrate eMA 5 1 1 you will need to locate the Hex file which is included in the CA SDK software package Refer to the eMA v5 1 1 API Specification for supported API calls needed to build your application Except for the MPL library the entire softw
18. uide for details on each of these sensors and hardware schematics CONFIDENTIAL amp PROPRIETARY 5 of 19 D t Number In venSense InvenSense CA SDK 5 1 1 User Guide Aven 1 o j Release 1 0 Release Date 04 01 2013 e MSP FET430UIF flash tool http www ti com tool msp fet430uif 13 TEXAS INSTRUMENTS MSP430 Figure 4 1 1 Flash tool required for programming 4 2 Software Components Needed to Program the SDK Loading Software on MCU Option 1 PC Program to load the software that loads firmware on the MCU Please install the software http www ti com tool flash programmer on your PC For questions on installation or usage of this program please contact TI Option 2 Code Composer Studio The Code Composer Studio from TI can be used for application development on the SDK Information on CCS can be obtained from http www ti com tool ccstudio or http processors wiki ti com index php Download CCS Option 3 Boot Strap Loading via USB BSL will comply with the standards from TI s application note as below http www ti com lit an slaa452b slaa452b pdf CONFIDENTIAL amp PROPRIETARY 6 of 19 D t Number n venSense InvenSense CA SDK 5 1 1 User Guide econ 1 D 7 Release 1 0 Release Date 04 01 2013 The option to load the program through BSL requires the existing software on the CA SDK board to have a BSL jump with a user interface The software that is pre flashed on all CA SDK boards that are
19. usable with the CA SDK hence you would need the full featured version TI offers a trial version of the software which can be used for configuring your CA SDK application e Download the release package from the Developers Corner and unzip or 7zip the folder to extract the Embedded MotionApps eMA 5 1 1 software e Open the Code Composer go to File gt Imports as in figure below CONFIDENTIAL amp PROPRIETARY 16 of 19 Document Number InvenSense InvenSense CA SDK 5 1 1 User Guide Revision 1 0 Release 1 0 Release Date 04 01 2013 e Open Existing CCS CCE Eclipse Projects e Browse the folder where the eMA is located and open the project e Now the project opens up and it is ready to compile look for the main c file to see how the example project is being integrated into eMA V7 CCS Edit eMPL wSDK test main c Code Composer Studio Edit View Navigate Project Run Scripts Window Help New Alt Shift N gt Open File Close Ctrl W E Close All Ctrl Shift W S Save As E Save All Ctrl Shift S Revert Ee Rename A Refresh F5 Convert Line Delimiters To b c Print Ctrl P Switch Workspace b Restart g Import e5 Export Properties Alt Enter 1 ustore_manager h eMPL wSDK test 1 M 2 msp430_i2c h eMPL wSDK test 3 ml_lite h eMPL wSDK test eMPL_include 4 eMPL states h eMPL wSDK test Exit Figure 6 9 0 Select import to import the project CONFIDENTIAL amp PROPRIETAR
20. user cannot disable enable any sensor display or toggle any sensors a Cases 8 9 0 a g c e q r h k will not be recognized 5 Two log files will be created one for external sensors Pressure Humidity Light UV Temperature which is named External_TIME csv and another named all_TIME csv There are three packages that python script accepts 1 debug_packet used to show any debugging messages 2 quat_packet used for rotating cube 3 data_packet contains sensors information a All conversion formulas which reads data from eMA 5 1 1 and translate it to meaningful numbers can be found in _init_ function of data_packet class CONFIDENTIAL amp PROPRIETARY 14 of 19 D t Number l n venSense InvenSense CA SDK 5 1 1 User Guide econ 1 D 7 Release 1 0 Release Date 04 01 2013 6 Programming the SDK 6 1 The CA SDK comes pre flashed with software needed to generate calibrated quaternion The remainder of this section is needed only if the user would need to modify the embedded firmware 6 2 Howto use eMA 5 1 1 Features and Integrate with an Application The CA SDK package comes with an example application that instantiates eMA v5 1 1 API calls to transmit sensor fusion data via serial UART The next sections cover details about the eMA architecture and example application code 6 3 Embedded MotionApps Platform Overview Embedded MotionApps 5 1 1 has been designed with a new architecture as explained below The new
Download Pdf Manuals
Related Search