grove-linux-driver VS uMyo

https://www.seeedstudio.com looks pretty interesting to me because of the built in battery charge circuit.

A common source for Jetson is https://www.seeedstudio.com

I was sent a new XIAO BLE Sense device by https://www.seeedstudio.com/ so decided I would figure out how to manage communication. It was quite a project, since the Enhanced ShockBurst protocol has to be implemented in software. I have a few things to figure out, but the library is mostly functional, I'm looking for input on issues etc. and or improvements to make. It has been tested with the complete RF24 communication stack, although the RF24Network and higher libs need modifications to work with this library.

https://www.seeedstudio.com expensive compared to original, but not huge

Our friends at Seeed Studio send us some boards! We will work together to make them compatible with Luos technology and build great projects using Seeed Studio and Luos.

SeeedStudio

This post contains links to sample code that you can use with the FarmBeats for students kit, available from Seeed Studios.

You can find this math in my code here: https://github.com/ultimaterobotics/uMyo/blob/main/lsm6ds3.c lines 131-144 (it uses files quat_math.c, .h from the same folder) - there you can also find fusion with accelerometer, zero offset calibration and some other stuff (if you will actually use it - please keep in mind that function for calculation of roll, pitch, yaw angles there likely isn't working the way it should, I took it from someone else's code, didn't like the result, and never used nor debugged it - in my case angles are calculated on the receiver side from quaternion using very different math)

You can look at uMyo ( https://github.com/ultimaterobotics/uMyo ) - it's fully open source, so you can run your own production. Although its price is a bit below $40 per channel (and that is full processing unit with its own MCU and radio channel, so you only need a single receiver for all devices on the PC side), so if you need 3-4 units - then it will be cheaper to just buy them. For 10+ you may order factory production, it will be cheaper at that point (but still, if you take into account all the necessary stuff and shipment, you are looking at ~$30-35 per channel at this quantity)

For proper integration, the simplest way is to use quaternion math - at turn on set rotation quaternion to one that represents zero rotation, and then adjust it with every new data point. You can use my code from uMyo project - based on function calculate_quat() here: https://github.com/ultimaterobotics/uMyo/blob/main/lsm6ds3.c which uses quat_math and fast_math .c, .h files from the same repository. But there it's significantly more complicated than you need (performing auto-calibration and taking into account gravity for compensating vertical axis drift). In the simplest form it would be the following (assuming Qsg is our quaternion of interest, declared outside of update function and initialized as .w=1, .x=0,.y=0,.z=0):

You may want to check the library I made some time ago: https://github.com/ultimaterobotics/urf_lib (radio related stuff is in urf_radio.c, .h files)- I hadn't implemented there methods with external setting of length and packet ID (both are intended to be handled outside of the library) - but if something doesn't work as intended in your case, you can trace an example of sending from nRF52 to nRF24 here https://github.com/ultimaterobotics/uMyo_v2 , in file main.c preparation of the packet is handled with prepare_data_packet32(), which is later sent via a single call of rf_send(data_packet, data_packet[1])

We recently made an open source / hardware device using 52810. You might be interested in its PCB/schematics ( https://github.com/ultimaterobotics/uMyo_v2_pcb ) and code ( https://github.com/ultimaterobotics/uMyo_v2 ).