Here is the code generated by EdgeImpulse:
/* Edge Impulse ingestion SDK
* Copyright (c) 2022 EdgeImpulse Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
/* Includes ---------------------------------------------------------------- */
#include <magicWand_inferencing.h>
#include <Arduino_LSM9DS1.h> //Click here to get the library: http://librarymanager/All#Arduino_LSM9DS1
/* Constant defines -------------------------------------------------------- */
#define CONVERT_G_TO_MS2 9.80665f
#define MAX_ACCEPTED_RANGE 2.0f // starting 03/2022, models are generated setting range to +-2, but this example use Arudino library which set range to +-4g. If you are using an older model, ignore this value and use 4.0f instead
/*
** NOTE: If you run into TFLite arena allocation issue.
**
** This may be due to may dynamic memory fragmentation.
** Try defining "-DEI_CLASSIFIER_ALLOCATION_STATIC" in boards.local.txt (create
** if it doesn't exist) and copy this file to
** `<ARDUINO_CORE_INSTALL_PATH>/arduino/hardware/<mbed_core>/<core_version>/`.
**
** See
** (https://support.arduino.cc/hc/en-us/articles/360012076960-Where-are-the-installed-cores-located-)
** to find where Arduino installs cores on your machine.
**
** If the problem persists then there's not enough memory for this model and application.
*/
/* Private variables ------------------------------------------------------- */
static bool debug_nn = false; // Set this to true to see e.g. features generated from the raw signal
static uint32_t run_inference_every_ms = 200;
static rtos::Thread inference_thread(osPriorityLow);
static float buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE] = { 0 };
static float inference_buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE];
/* Forward declaration */
void run_inference_background();
/**
* @brief Arduino setup function
*/
void setup()
{
// put your setup code here, to run once:
Serial.begin(115200);
// comment out the below line to cancel the wait for USB connection (needed for native USB)
while (!Serial);
Serial.println("Edge Impulse Inferencing Demo");
if (!IMU.begin()) {
ei_printf("Failed to initialize IMU!\r\n");
}
else {
ei_printf("IMU initialized\r\n");
}
if (EI_CLASSIFIER_RAW_SAMPLES_PER_FRAME != 3) {
ei_printf("ERR: EI_CLASSIFIER_RAW_SAMPLES_PER_FRAME should be equal to 3 (the 3 sensor axes)\n");
return;
}
inference_thread.start(mbed::callback(&run_inference_background));
}
/**
* @brief Return the sign of the number
*
* @param number
* @return int 1 if positive (or 0) -1 if negative
*/
float ei_get_sign(float number) {
return (number >= 0.0) ? 1.0 : -1.0;
}
/**
* @brief Run inferencing in the background.
*/
void run_inference_background()
{
// wait until we have a full buffer
delay((EI_CLASSIFIER_INTERVAL_MS * EI_CLASSIFIER_RAW_SAMPLE_COUNT) + 100);
// This is a structure that smoothens the output result
// With the default settings 70% of readings should be the same before classifying.
ei_classifier_smooth_t smooth;
ei_classifier_smooth_init(&smooth, 10 /* no. of readings */, 7 /* min. readings the same */, 0.8 /* min. confidence */, 0.3 /* max anomaly */);
while (1) {
// copy the buffer
memcpy(inference_buffer, buffer, EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE * sizeof(float));
// Turn the raw buffer in a signal which we can the classify
signal_t signal;
int err = numpy::signal_from_buffer(inference_buffer, EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE, &signal);
if (err != 0) {
ei_printf("Failed to create signal from buffer (%d)\n", err);
return;
}
// Run the classifier
ei_impulse_result_t result = { 0 };
err = run_classifier(&signal, &result, debug_nn);
if (err != EI_IMPULSE_OK) {
ei_printf("ERR: Failed to run classifier (%d)\n", err);
return;
}
// print the predictions
ei_printf("Predictions ");
ei_printf("(DSP: %d ms., Classification: %d ms., Anomaly: %d ms.)",
result.timing.dsp, result.timing.classification, result.timing.anomaly);
ei_printf(": ");
// ei_classifier_smooth_update yields the predicted label
const char *prediction = ei_classifier_smooth_update(&smooth, &result);
ei_printf("%s ", prediction);
// print the cumulative results
ei_printf(" [ ");
for (size_t ix = 0; ix < smooth.count_size; ix++) {
ei_printf("%u", smooth.count[ix]);
if (ix != smooth.count_size + 1) {
ei_printf(", ");
}
else {
ei_printf(" ");
}
}
ei_printf("]\n");
delay(run_inference_every_ms);
}
ei_classifier_smooth_free(&smooth);
}
/**
* @brief Get data and run inferencing
*
* @param[in] debug Get debug info if true
*/
void loop()
{
while (1) {
// Determine the next tick (and then sleep later)
uint64_t next_tick = micros() + (EI_CLASSIFIER_INTERVAL_MS * 1000);
// roll the buffer -3 points so we can overwrite the last one
numpy::roll(buffer, EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE, -3);
// read to the end of the buffer
IMU.readAcceleration(
buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE - 3],
buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE - 2],
buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE - 1]
);
for (int i = 0; i < 3; i++) {
if (fabs(buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE - 3 + i]) > MAX_ACCEPTED_RANGE) {
buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE - 3 + i] = ei_get_sign(buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE - 3 + i]) * MAX_ACCEPTED_RANGE;
}
}
buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE - 3] *= CONVERT_G_TO_MS2;
buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE - 2] *= CONVERT_G_TO_MS2;
buffer[EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE - 1] *= CONVERT_G_TO_MS2;
// and wait for next tick
uint64_t time_to_wait = next_tick - micros();
delay((int)floor((float)time_to_wait / 1000.0f));
delayMicroseconds(time_to_wait % 1000);
}
}
#if !defined(EI_CLASSIFIER_SENSOR) || EI_CLASSIFIER_SENSOR != EI_CLASSIFIER_SENSOR_ACCELEROMETER
**#error "Invalid model for current sensor"**
#endif
The hardware being used, is a Arduino Nano33 ble sense.
The libary being used for my AI is generated by Edge impulse: <magicWand_inferencing.h>
The error i get can be found next to the last row and is hard coded into the program.
Hope this helps.
PS.: I forgot to describe what the Code Actually should do when working, te code should use the built-in accelerometer, Magnetoscope and gyroscope to determine weather a drawn shape is a Circle or up or down motion.