upm/examples/c++/l3gd20-i2c.cxx

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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iomanip>
#include <iostream>
#include <math.h>
#include <signal.h>
#include "l3gd20.hpp"
#include "upm_utilities.h"
using namespace std;
int shouldRun = true;
void
sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
float
rad2deg(float x)
{
return x * (180.0 / M_PI);
}
int
main(int argc, char** argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an L3GD20 using default parameters
upm::L3GD20 sensor(L3GD20_DEFAULT_I2C_BUS, L3GD20_DEFAULT_I2C_ADDR);
// set some parameters (these are already the defaults, but are
// provided here as an example)
// 250 deg/s sensitivity
sensor.setRange(sensor.FS_250);
// Set ODR to 95Hz, 25Hz cut-off
sensor.setODR(sensor.ODR_CUTOFF_95_25);
// If you already have calibration data, you can specify it here
// sensor.loadCalibratedData(-0.0296269637, -0.0080939643, -0.0077121737);
// now output data every 100 milliseconds
while (shouldRun) {
float x, y, z;
sensor.update();
cout << "Calibrated: " << sensor.getCalibratedStatus() << endl;
// output is in radians/s
sensor.getGyroscope(&x, &y, &z);
cout << fixed << setprecision(1) << "Gyroscope x: " << x << " y: " << y << " z: " << z
<< " radians" << endl;
// same data converted to degrees/s
cout << "Gyroscope x: " << rad2deg(x) << " y: " << rad2deg(y) << " z: " << rad2deg(z)
<< " degrees" << endl;
// we show both C and F for temperature
cout << "Compensation Temperature: " << sensor.getTemperature(false) << " C / "
<< sensor.getTemperature(true) << " F" << endl;
cout << endl;
upm_delay_us(100000);
}
// dump the calibration values if we managed to calibrate
if (sensor.getCalibratedStatus()) {
float calX, calY, calZ;
sensor.getCalibratedData(&calX, &calY, &calZ);
cout << setprecision(10) << "Calibration values x: " << calX << " y: " << calY
<< " z: " << calZ << endl;
}
cout << "Exiting..." << endl;
//! [Interesting]
return 0;
}