OpenShoe

GT-Silicon (who are build­ing and sell­ing com­plete Open­Shoe mod­ules) have a lot of resources related to the mod­ules on their home­page. You can find them at:

www.inertialelements.com

Not many updates here lately, but a larger num­ber of updates in the repos­i­tory. Dur­ing the last month, I have revised, com­ple­mented, and cleaned up pri­mar­ily the com­mu­ni­ca­tion pro­to­col. I’ve even writ­ten some doc­u­men­ta­tion! The bad news is that the com­mu­ni­ca­tion pro­to­col has changed slightly but keep­ing the messy order of com­mand IDs seemed even worth. The com­mu­ni­ca­tion logic is the same but some com­mand head­ers have changed. Any­how, this should not be too big of a prob­lem since now you can find all com­mands described in the fol­low­ing document:

OpenShoe_communication_protocol

Just to sum up, the sig­nif­i­cant changes are:

1. There are now a two byte pack­age num­ber in the pack­ages com­ing over the USB inter­face, just like it has always been for the Blue­tooth inter­face. The long term inten­tion is to con­nect the inter­faces much tighter. Now they only sig­nif­i­cant dif­fer­ence is the lack of a “loss­less” mode for the USB interface.
2. A num­ber of com­mands have new headers.
3. A num­ber of new com­mands have been added to make the pro­to­col more complete.
4. Sup­port for the old­est gen­er­a­tion of Open­Shoe mod­ules (those based on the AD16367 IMU) have been removed.

To make get­ting started with the mod­ules eas­ier I have also com­piled a num­ber of Mat­lab scripts which I use. These scripts demon­strates the basic usage of the mod­ules. You find the scripts below:

OpenShoe_Matlab_scripts

Some of the scripts rely on mex-files. The C++-code is included but it has only been com­piled for 64-bit Win­dows. If you are run­ning some other OS, you need to com­pile those functions.