curie: tap detect implemented

Signed-off-by: deadprogram <[email protected]>

examples/firmata_curie_imu_tap_detect.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("Tap", func(data interface{}) {
+			log.Println("Tap", data)
+		})
+
+		gobot.Every(1*time.Second, func() {
+			led.Toggle()
+		})
+
+		imu.EnableTapDetection(true)
+	}
+
+	robot := gobot.NewRobot("blinkmBot",
+		[]gobot.Connection{firmataAdaptor},
+		[]gobot.Device{imu, led},
+		work,
+	)
+
+	robot.Start()
+}

platforms/intel-iot/curie/imu_driver.go

@@ -35,6 +35,11 @@ type ShockData struct {
 	Direction byte
 }
 
+type TapData struct {
+	Axis      byte
+	Direction byte
+}
+
 // IMUDriver represents the IMU that is built-in to the Curie
 type IMUDriver struct {
 	name       string
@@ -79,6 +84,10 @@ func (imu *IMUDriver) Start() (err error) {
 				val, _ := parseStepData(data)
 				imu.Publish("Steps", val)
 
+			case CURIE_IMU_TAP_DETECT:
+				val, _ := parseTapData(data)
+				imu.Publish("Tap", val)
+
 			}
 		}
 	})
@@ -137,6 +146,16 @@ func (imu *IMUDriver) EnableStepCounter(count bool) error {
 	return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_STEP_COUNTER, c})
 }
 
+// EnableTapDetection turns on/off the Curie's built-in tap detection.
+// The result will be returned by the Sysex response message
+func (imu *IMUDriver) EnableTapDetection(detect bool) error {
+	var d byte
+	if detect {
+		d = 1
+	}
+	return imu.connection.WriteSysex([]byte{CURIE_IMU, CURIE_IMU_TAP_DETECT, d})
+}
+
 func parseAccelerometerData(data []byte) (*AccelerometerData, error) {
 	if len(data) < 9 {
 		return nil, errors.New("Invalid data")
@@ -189,3 +208,12 @@ func parseStepData(data []byte) (int16, error) {
 	res := int16(uint16(data[3]) | uint16(data[4])<<7)
 	return res, nil
 }
+
+func parseTapData(data []byte) (*TapData, error) {
+	if len(data) < 6 {
+		return nil, errors.New("Invalid data")
+	}
+
+	res := &TapData{Axis: data[3], Direction: data[4]}
+	return res, nil
+}