ShimmerResearch · jyong15 · Jun 6, 2025 · Apr 10, 2025 · Apr 11, 2025 · Apr 18, 2025
diff --git a/ShimmerBluetooth/ShimmerBluetooth.xcodeproj/project.pbxproj b/ShimmerBluetooth/ShimmerBluetooth.xcodeproj/project.pbxproj
@@ -37,6 +37,7 @@
 		3AED206D2B0B10960066A0F8 /* ShimmerUtilitiesTest.swift in Sources */ = {isa = PBXBuildFile; fileRef = 3AED206C2B0B10960066A0F8 /* ShimmerUtilitiesTest.swift */; };
 		3AED20712B0C4BA60066A0F8 /* MagSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 3AED20702B0C4BA60066A0F8 /* MagSensor.swift */; };
 		3AED20732B0C587B0066A0F8 /* GyroSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 3AED20722B0C587B0066A0F8 /* GyroSensor.swift */; };
+		92150EF52DE461CE00FEA53B /* AltMagSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 92150EF42DE461CE00FEA53B /* AltMagSensor.swift */; };
 		9299E50E2B85054E001EEFE0 /* PressureTempSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 9299E50D2B85054E001EEFE0 /* PressureTempSensor.swift */; };
 		9299E5102B850571001EEFE0 /* BattVoltageSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 9299E50F2B850571001EEFE0 /* BattVoltageSensor.swift */; };
 		92B1067A2B7DAFBC00AB9952 /* EXGSensor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 92B106792B7DAFBC00AB9952 /* EXGSensor.swift */; };
@@ -84,6 +85,7 @@
 		3AED206C2B0B10960066A0F8 /* ShimmerUtilitiesTest.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = ShimmerUtilitiesTest.swift; sourceTree = "<group>"; };
 		3AED20702B0C4BA60066A0F8 /* MagSensor.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = MagSensor.swift; sourceTree = "<group>"; };
 		3AED20722B0C587B0066A0F8 /* GyroSensor.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = GyroSensor.swift; sourceTree = "<group>"; };
+		92150EF42DE461CE00FEA53B /* AltMagSensor.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = AltMagSensor.swift; sourceTree = "<group>"; };
 		9299E50D2B85054E001EEFE0 /* PressureTempSensor.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = PressureTempSensor.swift; sourceTree = "<group>"; };
 		9299E50F2B850571001EEFE0 /* BattVoltageSensor.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = BattVoltageSensor.swift; sourceTree = "<group>"; };
 		92B106792B7DAFBC00AB9952 /* EXGSensor.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = EXGSensor.swift; sourceTree = "<group>"; };
@@ -131,6 +133,7 @@
 		3A780C872AE12BEB00EAF050 /* ShimmerBluetooth */ = {
 			isa = PBXGroup;
 			children = (
+				92150EF42DE461CE00FEA53B /* AltMagSensor.swift */,
 				3AEB12F82BCE6F7E00B5F6F1 /* Shimmer3SpeedTestProtocol.swift */,
 				3A780C882AE12BEB00EAF050 /* ShimmerBluetooth.h */,
 				3A780C892AE12BEB00EAF050 /* ShimmerBluetooth.docc */,
@@ -299,6 +302,7 @@
 				3AB320E62B070830003D94F8 /* Sensor.swift in Sources */,
 				3A0B4B672B0EE42700786295 /* IMUSensor.swift in Sources */,
 				3A1CBAD32AE2DD1C00BC1E54 /* BleByteRadio.swift in Sources */,
+				92150EF52DE461CE00FEA53B /* AltMagSensor.swift in Sources */,
 				3A7712912AE26805006213A8 /* BLEByteRadioold.swift in Sources */,
 				3A77128D2AE177A4006213A8 /* ShimmerDevice.swift in Sources */,
 				3AA359152AF37943008AD334 /* ConfigByteLayoutShimmer3.swift in Sources */,

diff --git a/ShimmerBluetooth/ShimmerBluetooth/AltMagSensor.swift b/ShimmerBluetooth/ShimmerBluetooth/AltMagSensor.swift
@@ -0,0 +1,245 @@
+//
+//  AltMagSensor.swift
+//  ShimmerBluetooth
+//
+//  Created by Shimmer Engineering on 26/05/2025.
+//
+
+import Foundation
+
+public class AltMagSensor : IMUSensor , SensorProcessing{
+
+    public enum Range3R: UInt8 {
+        case RANGE_4Ga = 0x0
+        case RANGE_8Ga = 0x1
+        case RANGE_12Ga = 0x2
+        case RANGE_16Ga = 0x3
+
+        public static func fromValue(_ value : UInt8) -> Range3R? {
+            switch value{
+            case 0:
+                return .RANGE_4Ga
+            case 1:
+                return .RANGE_8Ga
+            case 2:
+                return .RANGE_12Ga
+            case 3:
+                return .RANGE_16Ga
+            default:
+                return nil
+            }
+        }
+    }
+    var Current3RRange = Range3R.RANGE_4Ga
+
+    public var packetIndexAltMagX:Int = -1
+    public var packetIndexAltMagY:Int = -1
+    public var packetIndexAltMagZ:Int = -1
+    public static let ALT_MAGNETOMETER_X = "Alt Magnetometer X"
+    public static let ALT_MAGNETOMETER_Y = "Alt Magnetometer Y"
+    public static let ALT_MAGNETOMETER_Z = "Alt Magnetometer Z"
+    var calibBytes_4Ga: [UInt8] = []
+    var calibBytes_8Ga: [UInt8] = []
+    var calibBytes_12Ga: [UInt8] = []
+    var calibBytes_16Ga: [UInt8] = []
+    var altMagRange = 0
+    var CALIBRATION_ID = 41
+    var AlignmentMatrix : [[Double]] = [[]]
+    var SensitivityMatrix : [[Double]] = [[]]
+    var OffsetVector : [Double] = []
+    var AlignmentMatrix_4Ga:[[Double]] = [[]]
+    var SensitivityMatrix_4Ga:[[Double]] = [[]]
+    var OffsetVector_4Ga:[Double]=[]
+    var AlignmentMatrix_8Ga:[[Double]] = [[]]
+    var SensitivityMatrix_8Ga:[[Double]] = [[]]
+    var OffsetVector_8Ga:[Double]=[]
+    var AlignmentMatrix_12Ga:[[Double]] = [[]]
+    var SensitivityMatrix_12Ga:[[Double]] = [[]]
+    var OffsetVector_12Ga:[Double]=[]
+    var AlignmentMatrix_16Ga:[[Double]] = [[]]
+    var SensitivityMatrix_16Ga:[[Double]] = [[]]
+    var OffsetVector_16Ga:[Double]=[]
+
+    public func get3RRange()->Range3R{
+        return Current3RRange
+    }
+
+    public func processData(sensorPacket: [UInt8], objectCluster: ObjectCluster) -> ObjectCluster {
+        let x = Array(sensorPacket[packetIndexAltMagX..<packetIndexAltMagX+2])
+        let y = Array(sensorPacket[packetIndexAltMagY..<packetIndexAltMagY+2])
+        let z = Array(sensorPacket[packetIndexAltMagZ..<packetIndexAltMagZ+2])
+        let rawDataX = Double(ShimmerUtilities.parseSensorData(sensorData: x, dataType: SensorDataType.i16)!)
+        let rawDataY = Double(ShimmerUtilities.parseSensorData(sensorData: y, dataType: SensorDataType.i16)!)
+        let rawDataZ = Double(ShimmerUtilities.parseSensorData(sensorData: z, dataType: SensorDataType.i16)!)
+        if (calibrationEnabled){
+            let data:[Double] = [rawDataX,rawDataY,rawDataZ]
+
+            let(calData)=IMUSensor.calibrateInertialSensorData(data,AlignmentMatrix,SensitivityMatrix,OffsetVector)
+            objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_X, formatName: SensorFormats.Calibrated.rawValue, unitName: SensorUnits.localflux.rawValue, value: calData![0])
+            objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_Y, formatName: SensorFormats.Calibrated.rawValue, unitName: SensorUnits.localflux.rawValue, value: calData![1])
+            objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_Z, formatName: SensorFormats.Calibrated.rawValue, unitName: SensorUnits.localflux.rawValue, value: calData![2])
+            print("M X : \(calData![0]) ,  M Y : \(calData![1]),  M Z : \(calData![2])")
+        }
+        print("MR X : \(rawDataX) ,  MR Y : \(rawDataY),  MR Z : \(rawDataZ)")
+        objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_X, formatName: SensorFormats.Raw.rawValue, unitName: SensorUnits.localflux.rawValue, value: rawDataX)
+        objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_Y, formatName: SensorFormats.Raw.rawValue, unitName: SensorUnits.localflux.rawValue, value: rawDataY)
+        objectCluster.addData(sensorName: AltMagSensor.ALT_MAGNETOMETER_Z, formatName: SensorFormats.Raw.rawValue, unitName: SensorUnits.localflux.rawValue, value: rawDataZ)
+
+        return objectCluster
+    }
+
+    public override func parseSensorCalibrationDump(bytes: [UInt8]){
+        var sensorID = Int(bytes[0]) + (Int(bytes[1])<<8)
+        if bytes[0] == CALIBRATION_ID {
+            var range = bytes[2]
+            var calbytes = bytes
+            calbytes.removeFirst(12)
+            if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3.rawValue){
+                (AlignmentMatrix,SensitivityMatrix,OffsetVector) = parseIMUCalibrationParameters(bytes: calbytes)
+            }else if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+                if range==0{
+                    calibBytes_4Ga = calbytes
+                    (AlignmentMatrix_4Ga,SensitivityMatrix_4Ga,OffsetVector_4Ga) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==1{
+                    calibBytes_8Ga = calbytes
+                    (AlignmentMatrix_8Ga,SensitivityMatrix_8Ga,OffsetVector_8Ga) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==2{
+                    calibBytes_12Ga = calbytes
+                    (AlignmentMatrix_12Ga,SensitivityMatrix_12Ga,OffsetVector_12Ga) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+                if range==3{
+                    calibBytes_16Ga = calbytes
+                    (AlignmentMatrix_16Ga,SensitivityMatrix_16Ga,OffsetVector_16Ga) = parseIMUCalibrationParameters(bytes: calbytes)
+                }
+            }
+        }
+    }
+
+    public func setInfoMem(infomem: [UInt8]) {
+
+        var enabled = Int(infomem[ConfigByteLayoutShimmer3.idxSensors2]>>ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagRange) & 1
+        if (enabled == 1){
+            sensorEnabled = true
+        } else {
+            sensorEnabled = false
+        }
+        altMagRange = (Int(infomem[ConfigByteLayoutShimmer3.idxConfigSetupByte2] >> ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagRange) & ConfigByteLayoutShimmer3.maskLSM303DLHCMagRange)
+
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            if (altMagRange == 0){
+                Current3RRange = Range3R.RANGE_4Ga
+                AlignmentMatrix = AlignmentMatrix_4Ga
+                SensitivityMatrix = SensitivityMatrix_4Ga
+                OffsetVector = OffsetVector_4Ga
+            }
+            if (altMagRange == 1){
+                Current3RRange = Range3R.RANGE_8Ga
+                AlignmentMatrix = AlignmentMatrix_8Ga
+                SensitivityMatrix = SensitivityMatrix_8Ga
+                OffsetVector = OffsetVector_8Ga
+            }
+            if (altMagRange == 2){
+                Current3RRange = Range3R.RANGE_12Ga
+                AlignmentMatrix = AlignmentMatrix_12Ga
+                SensitivityMatrix = SensitivityMatrix_12Ga
+                OffsetVector = OffsetVector_12Ga
+            }
+            if (altMagRange == 3){
+                Current3RRange = Range3R.RANGE_16Ga
+                AlignmentMatrix = AlignmentMatrix_16Ga
+                SensitivityMatrix = SensitivityMatrix_16Ga
+                OffsetVector = OffsetVector_16Ga
+            }
+        }
+    }
+
+    public func setLowPowerAltMag(enable: Bool, isShimmer3withUpdatedSensors: Bool, isShimmer3Sensor: Bool, samplingRate: Double, infomem: [UInt8])-> [UInt8]{
+        let LowPowerMagEnabled = enable
+        var infomemtoupdate = infomem
+        if(HardwareVersion == Shimmer3Protocol.HardwareType.Shimmer3R.rawValue){
+            if(!LowPowerMagEnabled){
+                if(samplingRate > 560){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x01)
+                }else if(samplingRate > 300){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x11)
+                }else if(samplingRate > 155){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x21)
+                }else if(samplingRate > 100){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x31)
+                }else if(samplingRate > 50){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x31)
+                }else if(samplingRate > 20){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x3E)
+                }else if(samplingRate > 10){
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x3A)
+                }else{
+                    infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x08)
+                }
+            }else{
+                infomemtoupdate = updateInfoMemAltMagRate(infomem: infomem, magRate:0x08)
+            }
+        }
+        return infomemtoupdate
+
+    }
+
+    public func updateInfoMem3RAltMagRange(infomem: [UInt8],range: Range3R) -> [UInt8]{
+        var infomemtoupdate = infomem
+        print("oriinfomem: \(infomemtoupdate)")
+        var altMagRange = 0
+        var calibBytes = calibBytes_4Ga
+        if (range == Range3R.RANGE_4Ga){
+            altMagRange = 0
+            calibBytes = calibBytes_4Ga
+        }else if (range == Range3R.RANGE_8Ga){
+            altMagRange = 1
+            calibBytes = calibBytes_8Ga
+        } else if (range == Range3R.RANGE_12Ga){
+            altMagRange = 2
+            calibBytes = calibBytes_12Ga
+        } else if (range == Range3R.RANGE_16Ga){
+            altMagRange = 3
+            calibBytes = calibBytes_16Ga
+        }
+
+        infomemtoupdate.replaceSubrange(
+            ConfigByteLayoutShimmer3.idxLIS3MDLAltMagCalibration..<ConfigByteLayoutShimmer3.idxLIS3MDLAltMagCalibration + ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes,
+            with: calibBytes[0..<ConfigByteLayoutShimmer3.lengthGeneralCalibrationBytes])
+
+        let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2]
+        let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] & ~UInt8(ConfigByteLayoutShimmer3.maskLSM303DLHCMagRange<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagRange)
+        let range = UInt8(altMagRange<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagRange)
+
+        print("orivalue range: \(orivalue)")
+        print("value: \(value)")
+        print("range: \(range)")
+
+        infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] = value | range
+        print("updatedinfomem: \(infomemtoupdate)")
+
+        return infomemtoupdate
+    }
+
+
+    public func updateInfoMemAltMagRate(infomem: [UInt8],magRate: UInt8) -> [UInt8]{
+        var infomemtoupdate = infomem
+
+        print("oriinfomem : \(infomemtoupdate)")
+
+        let orivalue = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2]
+        let value = infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] & ~UInt8(ConfigByteLayoutShimmer3.maskLSM303DLHCMagSamplingRate<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagSamplingRate)
+        let range = UInt8(magRate<<ConfigByteLayoutShimmer3.bitShiftLSM303DLHCMagSamplingRate)
+
+        print("orivalue range : \(orivalue)")
+        print("value : \(value)")
+        print("range : \(range)")
+
+        infomemtoupdate[ConfigByteLayoutShimmer3.idxConfigSetupByte2] = value | range
+
+        return infomemtoupdate
+    }
+}
+
+
diff --git a/ShimmerBluetooth/ShimmerBluetooth/BleByteRadio.swift b/ShimmerBluetooth/ShimmerBluetooth/BleByteRadio.swift
@@ -8,7 +8,8 @@ public class BleByteRadio : NSObject, ByteCommunication {
     var RBL_CHAR_TX_UUID = "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
     private var bluetoothManager: BluetoothManager?
     public static let VERISENSE = "Verisense"
-    public static let SHIMMER = "Shimmer"
+    public static let SHIMMER3 = "Shimmer3"
+    public static let SHIMMER3R = "Shimmer3R"
     private var continuation: CheckedContinuation<Bool?, Never>?
     public static let VERISENSE_RBL_SERVICE_UUID = "6E400001-B5A3-F393-E0A9-E50E24DCCA9E"
     public static let VERISENSE_RBL_CHAR_RX_UUID = "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
@@ -17,6 +18,12 @@ public class BleByteRadio : NSObject, ByteCommunication {
     public static let SHIMMER3_RBL_SERVICE_UUID = "49535343-FE7D-4AE5-8FA9-9FAFD205E455"
     public static let SHIMMER3_RBL_CHAR_RX_UUID = "49535343-1E4D-4BD9-BA61-23C647249616"
     public static let SHIMMER3_RBL_CHAR_TX_UUID = "49535343-8841-43F4-A8D4-ECBE34729BB3"
+
+    public static let SHIMMER3R_RBL_SERVICE_UUID = "65333333-A115-11E2-9E9A-0800200CA100"
+    public static let SHIMMER3R_RBL_CHAR_RX_UUID = "65333333-A115-11E2-9E9A-0800200CA102"
+    public static let SHIMMER3R_RBL_CHAR_TX_UUID = "65333333-A115-11E2-9E9A-0800200CA101"
+
+
     public var deviceName: String?
     public var delegate: ByteCommunicationDelegate?
 
@@ -38,7 +45,11 @@ public class BleByteRadio : NSObject, ByteCommunication {
             RBL_SERVICE_UUID = BleByteRadio.VERISENSE_RBL_SERVICE_UUID
             RBL_CHAR_RX_UUID = BleByteRadio.VERISENSE_RBL_CHAR_RX_UUID
             RBL_CHAR_TX_UUID = BleByteRadio.VERISENSE_RBL_CHAR_TX_UUID
-        } else if let isActive = self.activePeripheral?.name?.contains(BleByteRadio.SHIMMER), isActive {
+        } else if let isActive = self.activePeripheral?.name?.contains(BleByteRadio.SHIMMER3R), isActive {
+            RBL_SERVICE_UUID = BleByteRadio.SHIMMER3R_RBL_SERVICE_UUID
+            RBL_CHAR_RX_UUID = BleByteRadio.SHIMMER3R_RBL_CHAR_RX_UUID
+            RBL_CHAR_TX_UUID = BleByteRadio.SHIMMER3R_RBL_CHAR_TX_UUID
+        } else if let isActive = self.activePeripheral?.name?.contains(BleByteRadio.SHIMMER3), isActive {
             RBL_SERVICE_UUID = BleByteRadio.SHIMMER3_RBL_SERVICE_UUID
             RBL_CHAR_RX_UUID = BleByteRadio.SHIMMER3_RBL_CHAR_RX_UUID
             RBL_CHAR_TX_UUID = BleByteRadio.SHIMMER3_RBL_CHAR_TX_UUID

diff --git a/ShimmerBluetooth/ShimmerBluetooth/ConfigByteLayoutShimmer3.swift b/ShimmerBluetooth/ShimmerBluetooth/ConfigByteLayoutShimmer3.swift
@@ -40,8 +40,12 @@ public class ConfigByteLayoutShimmer3{
     static let idxBtCommBaudRate = 30
     static let idxAnalogAccelCalibration = 31
     static let idxMPU9150GyroCalibration = 52
-    static let idxLSM303DLHCMagCalibration = 73
-    static let idxLSM303DLHCAccelCalibration = 94 //94->114
+    static let idxLSM303DLHCMagCalibration = 76
+    static let idxLIS3MDLAltMagCalibration = 285
+
+    //static let idxLSM303DLHCAccelCalibration = 94 //94->114
+    static let idxConfigSetupByte4 = 128+2;
+
     static let idxSDExperimentConfig0 =             128+89;
     static let idxSDExperimentConfig1 =             128+90;
 
@@ -51,6 +55,9 @@ public class ConfigByteLayoutShimmer3{
     static let bitShiftMPU9150GyroRange =               0;
     static let maskMPU9150GyroRange =                   0x03;
 
+    static let bitShiftLSM6DSVyroRangeMSB =               2;
+    static let maskLSM6DSVyroRangeMSB =                   0x01;
+
     static let bitShiftMPU9150AccelGyroSamplingRate =               0;
     static let maskMPU9150AccelGyroSamplingRate =                   0xFF;
 
@@ -63,12 +70,21 @@ public class ConfigByteLayoutShimmer3{
     static let bitShiftLSM303DLHCMagRange =            5;
     static let maskLSM303DLHCMagRange =               0x07;
 
+    static let bitShiftMPU9150AccelRange =            6;
+    static let maskMPU9150AccelRange =               0x03;
+
     static let bitShiftLSM303DLHCMagSamplingRate =         2;
     static let maskLSM303DLHCMagSamplingRate =          0x07;
 
     static let bitShiftLSM303DLHCAccelSamplingRate =         4;
     static let maskLSM303DLHCAccelSamplingRate =          0x0F;
 
+    static let idxLSM6DSVAccelCalibration = 34;
+    static let idxGyroCalibration = 55;
+    static let idxLSM303DLHCAccelCalibration = 97;
+
+    static let lengthGeneralCalibrationBytes = 21;
+
     static let bitShiftRTCError = 4;
     static let maskRTCError = 1;
 }