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Merged
jyong15 merged 7 commits into from
May 29, 2025
Merged

DEV-245 Mag #7

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3a999d4
add 3r mag sensor support
MAzalya May 13, 2025
d4691de
add 3r mag low power mode
MAzalya May 14, 2025
34d2c23
fix
MAzalya May 14, 2025
c273fca
swapped mag update
MAzalya May 27, 2025
2e857ab
minor update
MAzalya May 27, 2025
2c93962
Merge branch 'DEV-227' into DEV-245
MAzalya May 27, 2025
bf41074
DEV-245 update mag sampling rate logic 3R
jyong15 May 28, 2025
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2 changes: 1 addition & 1 deletion ShimmerBluetooth/ShimmerBluetooth/ConfigByteLayoutShimmer3.swift
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ public class ConfigByteLayoutShimmer3{
static let idxBtCommBaudRate = 30
static let idxAnalogAccelCalibration = 31
static let idxMPU9150GyroCalibration = 52
static let idxLSM303DLHCMagCalibration = 73
static let idxLSM303DLHCMagCalibration = 76
//static let idxLSM303DLHCAccelCalibration = 94 //94->114
static let idxConfigSetupByte4 = 128+2;

Expand Down
136 changes: 77 additions & 59 deletions ShimmerBluetooth/ShimmerBluetooth/MagSensor.swift
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Original file line number Diff line number Diff line change
Expand Up @@ -8,18 +8,19 @@
import Foundation
public class MagSensor : IMUSensor , SensorProcessing{


public var packetIndexMagX:Int = -1
public var packetIndexMagY:Int = -1
public var packetIndexMagZ:Int = -1
public static let MAGNETOMETER_X = "Magnetometer X"
public static let MAGNETOMETER_Y = "Magnetometer Y"
public static let MAGNETOMETER_Z = "Magnetometer Z"
var magRange = 0
let CALIBRATION_ID = 32
var CALIBRATION_ID = 32
var AlignmentMatrix : [[Double]] = [[]]
var SensitivityMatrix : [[Double]] = [[]]
var OffsetVector : [Double] = []

public func processData(sensorPacket: [UInt8], objectCluster: ObjectCluster) -> ObjectCluster {
let x = Array(sensorPacket[packetIndexMagX..<packetIndexMagX+2])
let y = Array(sensorPacket[packetIndexMagY..<packetIndexMagY+2])
Expand All @@ -45,6 +46,9 @@ public class MagSensor : IMUSensor , SensorProcessing{
}

public override func parseSensorCalibrationDump(bytes: [UInt8]){
if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
CALIBRATION_ID = 42
}
var sensorID = Int(bytes[0]) + (Int(bytes[1])<<8)
if bytes[0] == CALIBRATION_ID {
var range = bytes[2]
Expand All @@ -56,77 +60,93 @@ public class MagSensor : IMUSensor , SensorProcessing{

public func setInfoMem(infomem: [UInt8]) {

var enabled = Int(infomem[ConfigByteLayoutShimmer3.idxSensors0]>>5) & 1
var enabled = Int(infomem[ConfigByteLayoutShimmer3.idxSensors0]>>ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagRange) & 1
if (enabled == 1){
sensorEnabled = true
} else {
} else {
sensorEnabled = false
}

magRange = Int((infomem[8]>>5) & 7)

}

public func setLowPowerMag(enable: Bool, isShimmer3withUpdatedSensors: Bool, isShimmer3Sensor: Bool, samplingRate: Double, infomem: [UInt8])-> [UInt8]{
let LowPowerMagEnabled = enable
var infomemtoupdate = infomem
if(isShimmer3Sensor){
if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
if(!LowPowerMagEnabled){
if(isShimmer3withUpdatedSensors){
if(samplingRate >= 100){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:3)
}else if(samplingRate >= 50){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:2)
}else if(samplingRate >= 20){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
}else if(samplingRate >= 10){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
if(samplingRate <= 10){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
}else if(samplingRate <= 20){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
}else if(samplingRate <= 50){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:2)
}else{
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:3)
}
}else{
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
}
}else {
if(isShimmer3Sensor){
if(!LowPowerMagEnabled){
if(isShimmer3withUpdatedSensors){
if(samplingRate >= 100){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:3)
}else if(samplingRate >= 50){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:2)
}else if(samplingRate >= 20){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
}else if(samplingRate >= 10){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
}else{
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
}
}else{
if(samplingRate >= 50){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:6)
}else if(samplingRate >= 20){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:5)
}else if(samplingRate >= 10){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
}else{
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:3)
}
}
}else //low power mag for shimmer3 enabled
{
if(isShimmer3withUpdatedSensors){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
}else{
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
}
}else{
if(samplingRate >= 50){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:6)
}else if(samplingRate >= 20){
}
}else //Shimmer2
{
if(!LowPowerMagEnabled){
if(samplingRate <= 1){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
}else if(samplingRate <= 15){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
}else if(samplingRate <= 30){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:5)
}else if(samplingRate >= 10){
}else if(samplingRate <= 75){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:6)
}else{
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:7)
}

}else
{
if(samplingRate >= 10){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
}else{
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:3)
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
}
}
}else //low power mag for shimmer3 enabled
{
if(isShimmer3withUpdatedSensors){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:0)
}else{
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
}
}
}else //Shimmer2
{
if(!LowPowerMagEnabled){
if(samplingRate <= 1){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
}else if(samplingRate <= 15){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
}else if(samplingRate <= 30){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:5)
}else if(samplingRate <= 75){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:6)
}else{
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:7)
}

}else
{
if(samplingRate >= 10){
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:4)
}else{
infomemtoupdate = updateInfoMemMagRate(infomem: infomem, magRate:1)
}
}
}




return infomemtoupdate
}
Expand All @@ -138,16 +158,14 @@ public class MagSensor : IMUSensor , SensorProcessing{

let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2]
let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] & ~UInt8(ConfigByteLayoutShimmer3.maskLSM303DLHCMagSamplingRate<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagSamplingRate)
let range = UInt8(magRate<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagSamplingRate)
let rate = UInt8(magRate<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagSamplingRate)

print("orivalue range : \(orivalue)")
print("value : \(value)")
print("range : \(range)")
print("rate : \(rate)")

infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] = value | range
infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] = value | rate

return infomemtoupdate
}


}
2 changes: 2 additions & 0 deletions ShimmerBluetooth/ShimmerBluetooth/Shimmer3Protocol.swift
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Original file line number Diff line number Diff line change
Expand Up @@ -324,6 +324,7 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
battVoltageSensor = BattVoltageSensor()
} else if(REV_HW_MAJOR==HardwareType.Shimmer3R.rawValue){
lnAccelSensor = LNAccelSensor(hwid: REV_HW_MAJOR)
magSensor = MagSensor(hwid: REV_HW_MAJOR)
gyroSensor = GyroSensor(hwid: REV_HW_MAJOR)
wrAccelSensor = WRAccelSensor(hwid: REV_HW_MAJOR)
timeSensor = TimeSensor()
Expand Down Expand Up @@ -351,6 +352,7 @@ public class Shimmer3Protocol : NSObject, ShimmerProtocol {
} else if (REV_HW_MAJOR==HardwareType.Shimmer3R.rawValue){
timeSensor.setInfoMem(infomem: infoMem)
lnAccelSensor.setInfoMem(infomem: infoMem)
magSensor.setInfoMem(infomem: infoMem)
gyroSensor.setInfoMem(infomem: infoMem)
wrAccelSensor.setInfoMem(infomem: infoMem)
}
Expand Down
10 changes: 10 additions & 0 deletions ShimmerExamplePlot/ShimmerExamplePlot/ContentView.swift
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Original file line number Diff line number Diff line change
Expand Up @@ -263,6 +263,14 @@ struct ContentView: View {
}
}
})
Button("WriteInfoMem Mag Shimmer3R",action:{ Task {
do {
await viewModel.sendInfoMemS3RMag()
} catch {
print("Error: \(error)")
}
}
})

Button("WriteInfoMem Gyro Shimmer3R",action:{ Task {
do {
Expand Down Expand Up @@ -351,6 +359,7 @@ struct ContentView: View {
// Update the ViewModel's wrRangeIndex property
viewModel.lnAccelRangeIndex = newValue
}

Picker("Select Gyro Range", selection: $viewModel.gyroRange3RIndex) {
ForEach(0..<viewModel.gyroRange3R.count, id: \.self) { index in
Text(viewModel.gyroRange3R[index])
Expand All @@ -360,6 +369,7 @@ struct ContentView: View {
// Update the ViewModel's wrRangeIndex property
viewModel.gyroRange3RIndex = newValue
}

Button("WriteInfoMem Shimmer3R",action:{ Task {
do {
await viewModel.sendS3RInfoMemConfigUpdate()
Expand Down
11 changes: 11 additions & 0 deletions ShimmerExamplePlot/ShimmerExamplePlot/ViewModel.swift
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Original file line number Diff line number Diff line change
Expand Up @@ -214,6 +214,17 @@ class ViewModel: NSObject, ObservableObject {
refreshUISettings()
}

func sendInfoMemS3RMag() async{
let infommag:[UInt8] = [
0x80, 0x02, 0x01, 0x20, 0x00, 0x00, 0x02, 0x00, 0x21, 0x08, 0x00, 0x80, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x01, 0x00, 0x80, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x01, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x88, 0x06, 0x88, 0x06, 0x88, 0x9C, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x88, 0x2C, 0x88, 0x2C, 0x88, 0x9C, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x9B, 0x02, 0x9B, 0x02, 0x9B, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x87, 0x06, 0x87, 0x06, 0x87, 0x00, 0x9C, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,

0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x9B, 0x02, 0x9B, 0x02, 0x9B, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x68, 0x69, 0x6D, 0x6D, 0x65, 0x72, 0x5F, 0x44, 0x37, 0x45, 0x30, 0x33, 0x52, 0x5F, 0x31, 0x37, 0x35, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x68, 0x35, 0x5F, 0xBA, 0x01, 0x01, 0x31, 0x01, 0x00, 0x36, 0x01, 0x00, 0x00, 0xE8, 0xDD, 0x50, 0xBB, 0xD7, 0xE0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,

0x00, 0x0A, 0x00, 0x0A, 0x00, 0x0A, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x64, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x9C, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0D, 0x5D, 0x0D, 0x5D, 0x0D, 0x5D, 0x64, 0x00, 0x00, 0x00, 0x9C, 0x00, 0x00, 0x00, 0x9C, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00]
await shimmer3Protocol?.writeShimmer3InfoMem(infoMem: infommag)
refreshUISettings()
}

func sendInfoMemS3RGyro() async{
let infomlnacc:[UInt8] = [
0x80,0x02,0x01,0x40,0x00,0x00,0x02,0x05,0x21,0xC8,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x00,0x80,0x10,0x00,0x00,0x00,0x00,0x00,0x02,0x01,0x0C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xD1,0x00,0xD1,0x00,0xD1,0x9C,0x00,0x00,0x00,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x2C,0x88,0x2C,0x88,0x2C,0x88,0x9C,0x00,0x00,0x00,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x0D,0x5D,0x0D,0x5D,0x0D,0x5D,0x64,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x9C,0x00,0x00,0x00,0x00,0x00,0x00,0x06,0x87,0x06,0x87,0x06,0x87,0x00,0x9C,0x00,0x9C,0x00,0x00,0x00,0x00,0x9C,0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
Expand Down