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06ecae7212
The existing driver only supported IIO. This change adds support for controlling the device via an I2C connection. In addition, there is a new C++ example for it (l3gd20-i2c.cxx). Note: Only basic functionality is supported, though a full register map and access functions are available to fill in any desired functionality. Note, that some methods are only usable with specific connection types. See the documentation. Signed-off-by: Jon Trulson <jtrulson@ics.com>
124 lines
3.4 KiB
C++
124 lines
3.4 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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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <iostream>
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#include <iomanip>
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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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using namespace std;
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int shouldRun = true;
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void 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 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 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 = new upm::L3GD20(L3GD20_DEFAULT_I2C_BUS,
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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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{
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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)
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<< "Gyroscope x: " << x
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<< " y: " << y
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<< " z: " << z
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<< " radians"
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<< endl;
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// same data converted to degrees/s
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cout << "Gyroscope x: " << rad2deg(x)
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<< " y: " << rad2deg(y)
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<< " z: " << rad2deg(z)
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<< " degrees"
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<< endl;
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// we show both C and F for temperature
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cout << "Compensation Temperature: " << sensor->getTemperature(false)
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<< " C / " << sensor->getTemperature(true) << " F"
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<< endl;
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cout << endl;
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usleep(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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{
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float calX, calY, calZ;
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sensor->getCalibratedData(&calX, &calY, &calZ);
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cout << setprecision(10)
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<< "Calibration values x: " << calX
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<< " y: " << calY
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<< " z: " << calZ
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<< endl;
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}
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cout << "Exiting..." << endl;
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delete sensor;
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//! [Interesting]
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return 0;
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}
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