api v1.1.0 commit

.gitignore

@@ -1,4 +1,3 @@
-*.pfx
 ## Ignore Visual Studio temporary files, build results, and
 ## files generated by popular Visual Studio add-ons.
 

MetaWear.Test/DataProcessorTest.cs

@@ -12,7 +12,7 @@
 using MbientLab.MetaWear.Data;
 
 namespace MbientLab.MetaWear.Test {
-    class DataProcessorTest : UnitTestBase {
+    abstract class DataProcessorTest : UnitTestBase {
         public DataProcessorTest() : base(typeof(ISwitch), typeof(ILed), typeof(IAccelerometerBmi160),
             typeof(IBarometerBmp280), typeof(IGpio), typeof(ILogging), typeof(IDataProcessor), typeof(ITemperature)) { }
     }

MetaWear.Test/SensorFusionBoschTest.cs

@@ -151,12 +151,11 @@ public static IEnumerable InterpretDataTestCases {
         }
     }
 
-    [Parallelizable]
-    [TestFixture]
-    class SensorFusionBoschTest : UnitTestBase {
-        private ISensorFusionBosch sensorFusion;
+    abstract class SensorFusionBoschBaseTest : UnitTestBase {
+        protected ISensorFusionBosch sensorFusion;
 
-        public SensorFusionBoschTest() : base(typeof(IAccelerometerBmi160), typeof(IGyroBmi160), typeof(IMagnetometerBmm150), typeof(ISensorFusionBosch)) { }
+        public SensorFusionBoschBaseTest() : base(typeof(IAccelerometerBmi160), typeof(IGyroBmi160), typeof(IMagnetometerBmm150), typeof(ISensorFusionBosch)) {
+        }
 
         [SetUp]
         public async override Task SetUp() {
@@ -177,7 +176,7 @@ public async override Task SetUp() {
         [TestCaseSource(typeof(SensorFusionBoschTestDataClass), "ConfigureTestCases")]
         public void Configure(Mode mode, AccRange acc, GyroRange gyr, Sensor.AccelerometerBmi160.FilterMode accFilter, FilterMode gyroFilter) {
             byte[][] expected = null;
-            byte[] configGyro100Hz = new byte[] {0x13, 0x03, (byte) (((int) gyroFilter << 4 ) | GyroBmi160Test.ODR_BITMASK[(int) OutputDataRate._100Hz]), GyroBmi160Test.RANGE_BITMASK[(int) gyr]};
+            byte[] configGyro100Hz = new byte[] { 0x13, 0x03, (byte)(((int)gyroFilter << 4) | GyroBmi160Test.ODR_BITMASK[(int)OutputDataRate._100Hz]), GyroBmi160Test.RANGE_BITMASK[(int)gyr] };
 
             switch (mode) {
                 case Mode.Ndof:
@@ -213,7 +212,7 @@ public void Configure(Mode mode, AccRange acc, GyroRange gyr, Sensor.Acceleromet
                     };
                     break;
             }
-            expected[1][2] |= (byte)((int) accFilter << 4);
+            expected[1][2] |= (byte)((int)accFilter << 4);
 
             sensorFusion.Configure(mode, acc, gyr, accExtra: new Object[] { accFilter }, gyroExtra: new object[] { gyroFilter });
 
@@ -263,4 +262,48 @@ await producer.AddRouteAsync(source => source.Stream(data => {
             Assert.That(actual, Is.EqualTo(expected));
         }
     }
+
+    [Parallelizable]
+    [TestFixture]
+    class SensorFusionBoschTest : SensorFusionBoschBaseTest {        
+        public SensorFusionBoschTest() : base() {
+
+        }
+
+        [Test]
+        public void ReadCalibration() {
+            Assert.ThrowsAsync<InvalidOperationException>(async () => {
+                await sensorFusion.ReadCalibrationStateAsync();
+            });
+        }
+    }
+
+    [Parallelizable]
+    [TestFixture]
+    class SensorFusionBoschRev1Test : SensorFusionBoschBaseTest {
+        public SensorFusionBoschRev1Test() : base() {
+            platform.initResponse.moduleResponses[0x19][3] = 0x1;
+        }
+
+        [SetUp]
+        public async override Task SetUp() {
+            await base.SetUp();
+
+            platform.customResponses.Add(new byte[] { 0x19, 0x8b },
+                    new byte[] { 0x19, 0x8b, 0x00, 0x01, 0x02 });
+        }
+
+        [Test]
+        public async Task ReadCalibration() {
+            byte[][] expected = new byte[][] {
+                new byte[] { 0x19, 0x8b }
+            };
+            ImuCalibrationState expectedState = new ImuCalibrationState(CalibrationAccuracy.Unreliable, CalibrationAccuracy.LowAccuracy, CalibrationAccuracy.MediumAccuracy);
+
+            var actual = await sensorFusion.ReadCalibrationStateAsync();
+
+            Assert.That(actual, Is.EqualTo(expectedState));
+            Assert.That(platform.GetCommands(), Is.EqualTo(expected));
+        }
+    }
 }

MetaWear/Core/ISensorFusionBosch.cs

@@ -150,6 +150,47 @@ public override int GetHashCode() {
                 return result;
             }
         }
+        /// <summary>
+        /// Container class holding the calibration state of the IMU sensors
+        /// </summary>
+        public struct ImuCalibrationState {
+            /// <summary>
+            /// Current calibration accuracy values for the accelerometer, gyroscope, and magnetometer respectively
+            /// </summary>
+            public readonly CalibrationAccuracy accelerometer, gyroscope, magnetometer;
+
+            public ImuCalibrationState(CalibrationAccuracy accelerometer, CalibrationAccuracy gyroscope, CalibrationAccuracy magnetometer) {
+                this.accelerometer = accelerometer;
+                this.gyroscope = gyroscope;
+                this.magnetometer = magnetometer;
+            }
+
+            public override bool Equals(object obj) {
+                if (!(obj is ImuCalibrationState)) {
+                    return false;
+                }
+
+                var state = (ImuCalibrationState)obj;
+                return accelerometer == state.accelerometer &&
+                       gyroscope == state.gyroscope &&
+                       magnetometer == state.magnetometer;
+            }
+
+            public override int GetHashCode() {
+                var hashCode = -56290531;
+                hashCode = hashCode * -1521134295 + accelerometer.GetHashCode();
+                hashCode = hashCode * -1521134295 + gyroscope.GetHashCode();
+                hashCode = hashCode * -1521134295 + magnetometer.GetHashCode();
+                return hashCode;
+            }
+
+            public override string ToString() {
+                return string.Format("{{accelerometer: {0}, gyroscope: {1}, magnetometer: {2}{3}", 
+                    Enum.GetName(typeof(CalibrationAccuracy), accelerometer),
+                    Enum.GetName(typeof(CalibrationAccuracy), gyroscope),
+                    Enum.GetName(typeof(CalibrationAccuracy), magnetometer), "}");
+            }
+        }
     }
     /// <summary>
     /// Bosch algorithm combining accelerometer, gyroscope, and magnetometer data for Bosch sensors.  
@@ -212,5 +253,12 @@ void Configure(Mode mode = Mode.Ndof, AccRange ar = AccRange._16g, GyroRange gr
         /// </summary>
         /// <returns>Task that is completed when the settings are received</returns>
         Task PullConfigAsync();
+        /// <summary>
+        /// Reads the current calibration state from the sensor fusion algorithm.  This function cannot be
+        /// called until the sensor fusion algorithm is running and is only available on firmware v1.4.1+
+        /// </summary>
+        /// <returns>Current calibrartion state</returns>
+        /// <exception cref="InvalidOperationException">If device is not using min required firmware</exception>
+        Task<ImuCalibrationState> ReadCalibrationStateAsync();
     }
 }

MetaWear/Impl/SensorFusionBosch.cs

@@ -41,7 +41,9 @@ internal static string createIdentifier(DataTypeBase dataType) {
 
         private const byte ENABLE = 1, MODE = 2, OUTPUT_ENABLE = 3,
             CORRECTED_ACC = 4, CORRECTED_ROT = 5, CORRECTED_MAG = 6,
-            QUATERNION = 7, EULER_ANGLES = 8, GRAVITY_VECTOR = 9, LINEAR_ACC = 0xa;
+            QUATERNION = 7, EULER_ANGLES = 8, GRAVITY_VECTOR = 9, LINEAR_ACC = 0xa,
+            CALIBRATION_STATUS = 0xb;
+        private const byte CALIBRATION_STATE_REV = 1;
 
         [DataContract]
         private class QuaternionDataType : DataTypeBase {
@@ -262,7 +264,7 @@ public override void Stop() {
         [DataMember] private byte dataEnableMask;
         [DataMember] private DataTypeBase corrAccType, corrAngVelType, corrBFieldType, quaternionType, eulerAnglesType, gravityType, linAccType;
 
-        private TimedTask<byte[]> readConfigTask;
+        private TimedTask<byte[]> readValueTask;
 
         private IAsyncDataProducer correctedAcc = null, correctedAngularVel = null, correctedMag = null, 
             quaternion = null, eulerAngles = null, 
@@ -346,8 +348,9 @@ internal override void aggregateDataType(ICollection<DataTypeBase> collection) {
         }
 
         protected override void init() {
-            readConfigTask = new TimedTask<byte[]>();
-            bridge.addRegisterResponseHandler(Tuple.Create((byte)SENSOR_FUSION, Util.setRead(MODE)), response => readConfigTask.SetResult(response));
+            readValueTask = new TimedTask<byte[]>();
+            bridge.addRegisterResponseHandler(Tuple.Create((byte)SENSOR_FUSION, Util.setRead(MODE)), response => readValueTask.SetResult(response));
+            bridge.addRegisterResponseHandler(Tuple.Create((byte)SENSOR_FUSION, Util.setRead(CALIBRATION_STATUS)), response => readValueTask.SetResult(response));
         }
 
         public void Configure(Mode mode = Mode.Ndof, AccRange ar = AccRange._16g, GyroRange gr = GyroRange._2000dps,
@@ -494,9 +497,18 @@ public void Stop() {
         }
 
         public async Task PullConfigAsync() {
-            var response = await readConfigTask.Execute("Did not receive sensor fusion config within {0}ms", bridge.TimeForResponse, 
+            var response = await readValueTask.Execute("Did not receive sensor fusion config within {0}ms", bridge.TimeForResponse, 
                 () => bridge.sendCommand(new byte[] { (byte)SENSOR_FUSION, Util.setRead(MODE) }));
             mode = (Mode)response[2];
         }
+
+        public async Task<ImuCalibrationState> ReadCalibrationStateAsync() {
+            if (bridge.lookupModuleInfo(SENSOR_FUSION).revision >= CALIBRATION_STATE_REV) {
+                var response = await readValueTask.Execute("Did not received calibration state within {0}ms", bridge.TimeForResponse,
+                    () => bridge.sendCommand(new byte[] { (byte)SENSOR_FUSION, Util.setRead(CALIBRATION_STATUS) }));
+                return new ImuCalibrationState((CalibrationAccuracy)response[2], (CalibrationAccuracy)response[3], (CalibrationAccuracy)response[4]);
+            }
+            throw new InvalidOperationException(string.Format("Minimun firmware v1.4.1 required to use this function (current is {0})", bridge.getFirmware().ToString()));
+        }
     }
 }

MetaWear/MetaWear.csproj

@@ -6,7 +6,7 @@
     <DelaySign>false</DelaySign>
     <AssemblyName>MbientLab.MetaWear</AssemblyName>
     <RootNamespace>MbientLab.MetaWear</RootNamespace>
-    <Version>1.0.15</Version>
+    <Version>1.1.0</Version>
   </PropertyGroup>
 
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|AnyCPU'">

nuget/MetaWear.nuspec

@@ -3,27 +3,28 @@
   <metadata minClientVersion="4.1">
     <id>MetaWear.CSharp</id>
     <title>MetaWear C# SDK</title>
-    <version>1.0.15</version>
+    <version>1.1.0</version>
     <authors>MbientLab</authors>
     <owners>MbientLab</owners>
     <licenseUrl>https://raw.githubusercontent.com/mbientlab/MetaWear-SDK-CSharp/master/LICENSE.md</licenseUrl>
     <projectUrl>https://github.com/mbientlab/MetaWear-SDK-CSharp</projectUrl>
     <requireLicenseAcceptance>false</requireLicenseAcceptance>
     <copyright>Copyright 2014 - 2018(c). MbientLab Inc</copyright>
-    <summary>Platform agnostic C# SDK for MbientLab's sensor platform</summary>
-    <releaseNotes>https://github.com/mbientlab/MetaWear-SDK-CSharp/releases/tag/1.0.15</releaseNotes>
+    <summary>.NET Standard 2.0 MetaMotion / MetaWear C# SDK</summary>
+    <releaseNotes>https://github.com/mbientlab/MetaWear-SDK-CSharp/releases/tag/1.1.0</releaseNotes>
     <description>
-Platform agnostic, .NET Standard 2.0 library for commuicating with MbientLab's sensor platform.  
+Platform agnostic, .NET Standard 2.0 library for communicating with MetaMotion / MetaWear boards.  
 
-Due to its platform agnostic nature, this package is only an API for the boards' BLE communication protocol; 
+Due to its platform agnostic nature, this package is only an API for the BLE communication protocol; 
 users of this package will need to plugin their own BLE stack and file i/o code.
 
-Check out the MetaWear.Win10 package for Windows 10 specific BLE and file plugs.
+Check out the MetaWear.Win10 and MetaWear.NetStandard packages for Windows 10 and NetStandard 2.0 specific 
+plugins for this project.
     </description>
     <tags>metawear metamotion metatracker sensors netstandard2.0</tags>
   </metadata>
   <files>
     <file src="..\MetaWear\bin\Release\netstandard2.0\MbientLab.MetaWear.dll" target="lib\netstandard2.0" />
-    <file src="..\MetaWear\bin\Release\netstandard2.0\MbientLab.MetaWear.xml" target="lib\netstandard2.0" />
+    <file src="..\MetaWear\bin\Release\netstandar d2.0\MbientLab.MetaWear.xml" target="lib\netstandard2.0" />
   </files>
 </package>