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98 lines
2.4 KiB
C++
98 lines
2.4 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* This program and the accompanying materials are made available under the
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* terms of the The MIT License which is available at
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* https://opensource.org/licenses/MIT.
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*
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* SPDX-License-Identifier: MIT
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*/
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#include <iomanip>
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#include <iostream>
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#include <math.h>
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#include <signal.h>
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#include "l3gd20.hpp"
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#include "upm_utilities.h"
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using namespace std;
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int shouldRun = true;
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void
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sig_handler(int signo)
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{
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if (signo == SIGINT)
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shouldRun = false;
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}
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float
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rad2deg(float x)
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{
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return x * (180.0 / M_PI);
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}
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int
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main(int argc, char** argv)
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate an L3GD20 using default parameters
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upm::L3GD20 sensor(L3GD20_DEFAULT_I2C_BUS, L3GD20_DEFAULT_I2C_ADDR);
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// set some parameters (these are already the defaults, but are
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// provided here as an example)
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// 250 deg/s sensitivity
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sensor.setRange(sensor.FS_250);
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// Set ODR to 95Hz, 25Hz cut-off
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sensor.setODR(sensor.ODR_CUTOFF_95_25);
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// If you already have calibration data, you can specify it here
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// sensor.loadCalibratedData(-0.0296269637, -0.0080939643, -0.0077121737);
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// now output data every 100 milliseconds
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while (shouldRun) {
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float x, y, z;
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sensor.update();
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cout << "Calibrated: " << sensor.getCalibratedStatus() << endl;
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// output is in radians/s
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sensor.getGyroscope(&x, &y, &z);
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cout << fixed << setprecision(1) << "Gyroscope x: " << x << " y: " << y << " z: " << z
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<< " radians" << endl;
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// same data converted to degrees/s
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cout << "Gyroscope x: " << rad2deg(x) << " y: " << rad2deg(y) << " z: " << rad2deg(z)
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<< " degrees" << endl;
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// we show both C and F for temperature
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cout << "Compensation Temperature: " << sensor.getTemperature(false) << " C / "
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<< sensor.getTemperature(true) << " F" << endl;
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cout << endl;
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upm_delay_us(100000);
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}
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// dump the calibration values if we managed to calibrate
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if (sensor.getCalibratedStatus()) {
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float calX, calY, calZ;
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sensor.getCalibratedData(&calX, &calY, &calZ);
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cout << setprecision(10) << "Calibration values x: " << calX << " y: " << calY
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<< " z: " << calZ << endl;
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}
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cout << "Exiting..." << endl;
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//! [Interesting]
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return 0;
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}
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