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Add wom service and modify gyro data conversion #72

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Add wom service and modify gyro data conversion #72

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a4030db
Bad gyro conversion
Mar 30, 2016
ab00945
Enable wom service
Mar 30, 2016
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21 changes: 14 additions & 7 deletions lib/cc2650.js
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ var MPU9250_PERIOD_UUID = 'f000aa8304514000b000000000000000'
var MPU9250_GYROSCOPE_MASK = 0x0007;
var MPU9250_ACCELEROMETER_MASK = 0x0238;
var MPU9250_MAGNETOMETER_MASK = 0x0040;
var MPU9250_WOM_MASK = 0x0080;

var IO_DATA_UUID = 'f000aa6504514000b000000000000000';
var IO_CONFIG_UUID = 'f000aa6604514000b000000000000000';
Expand Down Expand Up @@ -103,9 +104,7 @@ CC2650SensorTag.prototype.setMPU9250Period = function(period, callback) {

CC2650SensorTag.prototype.enableMPU9250 = function(mask, callback) {
this.mpu9250mask |= mask;

// for now, always write 0x007f, magnetometer does not seem to notify is specific mask is used
this.writeUInt16LECharacteristic(MPU9250_UUID, MPU9250_CONFIG_UUID, 0x007f, callback);
this.writeUInt16LECharacteristic(MPU9250_UUID, MPU9250_CONFIG_UUID, this.mpu9250mask, callback);
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This part causes issues, and was reverted to resolve #64.

Are there any advantages or disadvantages to always enabling WOM?

};

CC2650SensorTag.prototype.disableMPU9250 = function(mask, callback) {
Expand Down Expand Up @@ -138,6 +137,14 @@ CC2650SensorTag.prototype.unnotifyMPU9250 = function(callback) {
}
};

CC2650SensorTag.prototype.enableWOM = function(callback) {
this.enableMPU9250(MPU9250_WOM_MASK, callback);
};

CC2650SensorTag.prototype.disableWOM = function(callback) {
this.disableMPU9250(MPU9250_WOM_MASK, callback);
};

CC2650SensorTag.prototype.enableAccelerometer = function(callback) {
this.enableMPU9250(MPU9250_ACCELEROMETER_MASK, callback);
};
Expand Down Expand Up @@ -175,10 +182,10 @@ CC2650SensorTag.prototype.onMPU9250Change = function(data) {
};

CC2650SensorTag.prototype.convertMPU9250Data = function(data, callback) {
// 250 deg/s range
var xG = data.readInt16LE(0) / 128.0;
var yG = data.readInt16LE(2) / 128.0;
var zG = data.readInt16LE(4) / 128.0;
// rotation, unit deg/s, range -250, +250
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This change looks good.

var xG = data.readInt16LE(0) / (65536 / 500);
var yG = data.readInt16LE(2) / (65536 / 500);
var zG = data.readInt16LE(4) / (65536 / 500);

// we specify 8G range in setup
var x = data.readInt16LE(6) / 4096.0;
Expand Down