int i3dmgx3_openPort(int portNum, int baudrate, int size, int parity,
int stopbits, int inputBuff, int outputBuff) {
int errcheck;
int porth;
errcheck = openPort(portNum, inputBuff, outputBuff);
if (errcheck<0) {
return errcheck;
}
porth = errcheck; /* no error, so this is the port number. */
/* set communications parameters */
errcheck = setCommParameters(porth, baudrate, size, parity, stopbits);
if (errcheck!=I3DMGX3_COMM_OK) {
return errcheck;
}
/* set timeouts */
errcheck = setCommTimeouts(porth, 50, 50); /* Read Write */
if (errcheck!=I3DMGX3_COMM_OK) {
return errcheck;
}
return porth;
}
/*--------------------------------------------------------------------*/
int main(int argc, char **argv) {
s32 zvert=0;
BOOL endloopy = FALSE;
s16 portNum;
s16 deviceNum = 0;
s16 i;
s16 Ccount=0;
u16 value=0;
s16 id_flag = 0;
s16 errorCode;
s16 tryPortNum = 1;
unsigned char Record[79]; //record returned from device read where max size is 79
C2Accel_AngRecord Accel_AngRecord;
printf("\n 3DM-GX3 Read Acceleration and Angular Rate\n");
/*-------- If user specifies a port, then use it */
if (argc > 1) {
tryPortNum = atoi(argv[1]);
if (tryPortNum < 2 || tryPortNum > 256) {
printf(" usage: i3dmgx3 <portNumber>\n");
printf(" valid ports are 2..256\n");
exit(1);
}
/*-------- open a port, map a device */
portNum = i3dmgx3_openPort(tryPortNum, 115200, 8, 0, 1, 1024, 1024);
if (portNum<0) {
printf(" port open failed.\n");
printf(" Comm error %d, %s: ", portNum, explainError(portNum));
goto Exit;
}
}else{
portNum=OnGetSerialPorts();
if(portNum<0)
goto Exit;
}
printf("\n Using COM Port #%d \n", portNum);
/*-------- Set Comm Timeout values */
errorCode = setCommTimeouts(portNum, 50, 50); /* Read & Write timeout values */
if (errorCode!=I3DMGX3_COMM_OK) {
printf(" setCommTimeouts failed on port:%d with errorcode:%d\n",portNum,errorCode);
goto Exit;
}
/*-------- Disclose the byte order of host */
if( TestByteOrder() !=BIG_ENDIAN)
printf(" (Local Host is in Little Endian format)\n");
else
printf(" (Local Host is in Big Endian format)\n");
printf("\n");
/*-------- 0xC2 Accel and Ang rate Output --- Accel x y z and Ang x y z */
printf("\n 0xC2 Accel and Ang Output \n");
errorCode = i3dmgx3_AccelAndAngRate(portNum, &Record[0]);
if (errorCode < 0){
printf(" Error Accel and AngRate - : %s\n", explainError(errorCode));
endloopy =TRUE;
}else{
for (i=0; i<3; i++) {
Accel_AngRecord.Accel[i] = FloatFromBytes(&Record[1 + i*4]); // extract float from byte array
Accel_AngRecord.AngRt[i] = FloatFromBytes(&Record[13 + i*4]); // extract float from byte array
}
printf("\n\tAccel X\t\tAccel Y\t\tAccel Z\n");
printf(" \t%f\t%f\t%f\n", Accel_AngRecord.Accel[0], Accel_AngRecord.Accel[1], Accel_AngRecord.Accel[2]);
printf("\n\t Ang X\t\t Ang Y\t\t Ang Z\n");
printf(" \t%f\t%f\t%f\n", Accel_AngRecord.AngRt[0], Accel_AngRecord.AngRt[1], Accel_AngRecord.AngRt[2]);
Accel_AngRecord.timer = convert2ulong(&Record[25]);
printf("\n Time Stamp: %u\n", Accel_AngRecord.timer);
}
Exit:
/*-------- close device */
if (portNum >= 0)
i3dmgx3_closeDevice(portNum);
/*-------- wait for user to respond before exiting */
printf("\nHit return to exit...\n");
while (getchar() == EOF);
return(0);
}
