working quaternion streaming

brainexe · Jan 14, 2017 · c56d0ae · c56d0ae
1 parent ba80490
commit c56d0ae
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Showing 2 changed files with 27 additions and 4 deletions.
diff --git a/examples/sensorFusion.js b/examples/sensorFusion.js
@@ -12,12 +12,14 @@ devices.discover(function(device) {
     device.connectAndSetup(function(error) {
         console.log('were connected!');
 
-        const DATA_QUATERION = 3;
-        const NDOF = 1;
+        const QUATERION = 0x7;
+        const DATA_QUATERION = 0x3;
+        const MODE_NDOF = 0x1;
 
         var sensorFusion = new device.SensorFusion(device);
 
-        sensorFusion.config.setMode(NDOF);
+        sensorFusion.config.setMode(MODE_NDOF);
+        sensorFusion.subscribe(QUATERION);
         sensorFusion.enableData(DATA_QUATERION);
         sensorFusion.start();
 

diff --git a/src/registers/sensorFusion.js b/src/registers/sensorFusion.js
@@ -37,7 +37,7 @@ const	DATA_CORRECTED_ACC = 0,
 var SensorFusion = function(device) {
 	this.device = device;
 	this.config = new Config();
-	this.dataSourceMask = undefined;
+	this.dataSourceMask = 0x0;
 	this.accelerometer = new Accelerometer(device);
 	this.gyro = new Gyro(device);
 	this.magnetometer = new Magnetometer(device);
@@ -48,6 +48,18 @@ SensorFusion.prototype.enableData = function(data_source) {
 	this.dataSourceMask |= (0x1 << data_source);
 };
 
+SensorFusion.prototype.clearEnabledMask = function() {
+	this.dataSourceMask = 0x0;
+};
+
+SensorFusion.prototype.subscribe = function(output_type) {
+    var buffer = new Buffer(3);
+    buffer[0] = MODULE_OPCODE;
+    buffer[1] = output_type;
+    buffer[2] = 0x1;
+    this.device.send(buffer);
+};
+
 SensorFusion.prototype.start = function() {
 
 	switch(this.config.mode) {
@@ -101,6 +113,15 @@ SensorFusion.prototype.stop = function() {
 
 };
 
+SensorFusion.prototype.unsubscribe = function(output_type) {
+    var buffer = new Buffer(3);
+    buffer[0] = MODULE_OPCODE;
+    buffer[1] = output_type;
+    buffer[2] = 0x0;
+    this.device.send(buffer);
+};
+
+
 SensorFusion.prototype.onChange = function(callback)  {
 	this.device.emitter.on([MODULE_OPCODE, QUATERNION], function(buffer) {
 		var quaternion = new Core.Quaternion(