int GetComPort(){
s16 vvportNum = 0;
int iComPort = 0;
int errCount = 0;
int MaxFail = 5;
//Get comport number ask user for the comport number and open it
while(vvportNum == 0)
{
printf("Enter Comport to use:");
scanf("%d", &iComPort);
/* open a port, map a device */
vvportNum = i3dmgx3_openPort(iComPort, 115200, 8, 0, 1, 1024, 1024);
if (vvportNum<0) {
printf("port open failed. ");
printf("Comm error %d, %s:\n", vvportNum, explainError(vvportNum));
if (errCount++ >= MaxFail)
exit(-1);
iComPort = 0;
}
else {
printf("\n Using Comm Port #%d \n", vvportNum);
}
}
return vvportNum;
}
//===========================================================================
// GetComPort
//---------------------------------------------------------------------------
// Description: Prompt user for the comport and then opens it. The user is
// prompted until a valid comport is selected and successfully
// opened.
//
// Return: HANDLE - handle to the opened comport
//===========================================================================
int GetComPort()
{
int portNum = 0;
int iComPort = 0;
int errCount = 0;
int MaxFail = 5;
//Get comport number ask user for the comport number and open it
while(portNum == 0)
{
printf("Enter Comport to use:");
scanf("%d", &iComPort);
if(iComPort <2 || iComPort > 256){
printf(" please enter a valid port number \n");
printf(" valid ports are betweeen 2 and 256\n");
if (errCount++ >= MaxFail)
exit(-1);
}
else{
/* open a port */
portNum = i3dmgx3_openPort(iComPort, 115200, 8, 0, 1, 1024, 1024);
if (portNum<0) {
printf("port open failed. ");
printf("Comm error %d, %s:\n", portNum, explainError(portNum));
if (errCount++ >= MaxFail)
exit(-1);
iComPort = 0;
}
else {
printf("\n Using Comm Port #%d \n", portNum);
}
}
}
return portNum;
}
int main(int argc, char* argv[])
{
BOOL bQuit = FALSE;
BOOL bPrintHeader = TRUE;
int portNum = 0;
int tryPortNum;
int Ccount = 0;
printf("\n 3DM-GX3 Read and Write Data Rate\n");
/*-------- If user specifies a port, then use it */
if (argc > 1) {
tryPortNum = atoi(argv[1]);
if (tryPortNum < 2 || tryPortNum > 256) {
printf(" usage: DataRate <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));
exit(1);
}
}else{
portNum=OnGetSerialPorts();
if(portNum<0)
exit(1);
}
printf("\n 3DM-GX3-25 Using COM Port #%d \n", portNum);
while(!bQuit){
int chOption = 0;
if(bPrintHeader)
{
printf("\n");
printf("Enter an Option: (D)ata Rate (C)ontinuous (L)og_Continuous (Q)uit\n");
printf("D Data Rate - Modify or review the current Data Rate \n");
printf("C Continuous - Put the node in continuous mode and print each record\n");
printf("L Log Continuous - Put the node in continuous mode log and print each record\n");
printf("Q Quit - Quit the application\n");
bPrintHeader = FALSE;
}
//read option from the keyboard
while(!ReadCharNoReturn(&chOption))
{
Sleep(50);
}
//
switch(chOption)
{
case 'D':
case 'd': SetDataRate(portNum); bPrintHeader = TRUE; break;
case 'C':
case 'c': ReadContinuousData(portNum); bPrintHeader = TRUE; break;
case 'L':
case 'l':
ReadContinuousLogData(portNum);
bPrintHeader = TRUE;
break;
case 'q':
case 'Q': bQuit = TRUE; break;
case 'h':
case 'H': bPrintHeader = TRUE; break;
default: printf("Invalid Option\n\n"); bPrintHeader = TRUE;
}
}
return 0;
}
/*===========================================================================
* ReadContinuousLogData
*---------------------------------------------------------------------------
* Description: Puts the node in continuous mode, reads the sensor data and
* prints to the screen and logs data to user file until the user
* interrupts.
*
* Return: HANDLE - handle to the opened comport
*===========================================================================*/
void ReadContinuousLogData(int portNum)
{
int iCount = 0;
BOOL bStopContinuous = FALSE;
DWORD dwcharsRead = 0;
I3dmgx3Set Record;
BYTE cmd_return;
int Curs_posY = 0;
int Curs_posX = 0;
int status = 0;
int error_record = 0;
int valid_check = 0;
int valid_count = 0;
char consoleBuff[60] = {0};
long valid_rec = 0;
unsigned char error_cmd;
char ComLogFile[256];
FILE *m_logFile;
int LogFlag = 0;
int error_count = 0;
int errorCode =0, i=0;
char fw[20] = {0};
char sn[20] = {0};
char mListSep[4];
char mDecSep[4];
LANGID langId;
char szLanguage[256]; /*MAX_PATH]; */
char idchar[] = {'\x02', '\x00', '\x01', '\x03', '\x04'};
int m_timerconst = 62500;
unsigned long AA_Time_Stamp=0;
unsigned long AA_s_prev =0;
float AA_convert = 0.0;
float AA_prev = 0.0;
struct __timeb64 timebuffer;
char *timeline;
_ftime64( &timebuffer );
timeline = _ctime64( & ( timebuffer.time ) );
while (LogFlag != 1){
printf("Enter Name of LogFile to use:");
scanf("%s", &ComLogFile); // 255);
printf("logFile %s\n", ComLogFile);
if ( ( m_logFile= fopen( ComLogFile, "w")) == NULL){
printf("File: %s not opened\n", ComLogFile);
if(++error_count > 2)
return;
}else LogFlag = 1;
}
fprintf(m_logFile, "[SESSION START TAG]\n");
fprintf(m_logFile, "Session Start Time:%.19s.%hu \n", timeline, timebuffer.millitm );
fprintf(m_logFile, "Time Source: HOST\n");
GetLocaleInfo(LOCALE_SYSTEM_DEFAULT,LOCALE_SLIST,mListSep,4);
fprintf(m_logFile, "List Separator: %s\n", mListSep);
GetLocaleInfo(LOCALE_SYSTEM_DEFAULT,LOCALE_SDECIMAL,mDecSep,4);
fprintf(m_logFile, "Decimal Separator: %s\n", mDecSep);
langId = GetSystemDefaultLangID ();
i = VerLanguageName (langId, szLanguage, 256); //dwSize = MAX_PATH;
fprintf(m_logFile, "Language: %s\n", szLanguage);
while(valid_check == 0)
{
errorCode = i3dmgx3_getFirmwareVersion(portNum, &fw[0]);
if (errorCode < 0){
purge_port(portNum);
printf("Firmware Error %d\n",errorCode);
if (valid_count++ > 6) {
printf("Please Halt Current Data Display and Retry, count %d\n", valid_count);
return;
}
}else if (errorCode >= 0){
valid_check = 1;
}
}
/*------------------------------------------------------------------
* 0xEA get serial information number, model and options (as string)
*-----------------------------------------------------------------*/
valid_count =0;
for ( i=0; i<4; i++){ //cycles through the valid device options
errorCode = i3dmgx3_getDeviceIdentiy(portNum, idchar[i], &sn[0]);
if (errorCode < 0){
purge_port(portNum);
i--;
if (valid_count++ >6){
printf("Error Read Device Identity: %s\n", explainError(errorCode));
}
} else{
switch( i ) {
case 0:
fprintf(m_logFile, "Device Name: %s\n",sn);
break;
case 1:
fprintf(m_logFile, "Device Model: %s\n",sn);
break;
case 2:
fprintf(m_logFile, "Device FirmWare Version: %s\n", fw);
fprintf(m_logFile, "Device Serial Number: %s\n", sn);
break;
case 3:
fprintf(m_logFile, "Device Options: %s\n", sn);
break;
case 4:
default:
break;
}
}
}
fprintf(m_logFile, "Command C2\n[DATA START TAG]\n\t Time%s Accel X%s Accel Y%s Accel Z%s AngRate X%s AngRate Y%s AngRate Z%s Ticks\n", mListSep, mListSep, mListSep, mListSep, mListSep, mListSep, mListSep);
//put the node in continuous mode
status =SetContinuousMode(portNum, 0xC2);
printf("setcontinuous is %d", status);
//set up the output for the data
printf("\n\n");
printf("Reading streaming data (hit s to Stop streaming).\n");
printf("C2___________________________Acceleration_______________________________\n");
printf(" X Y Z \n");
/* acceleration values go here */
printf("\n\n\n");
printf("C2____________________________Angular_Rate______________________________\n");
printf(" X Y Z \n");
/* angle rate values go here */
getConXY(&Curs_posX, &Curs_posY);
printf("\n\n\n\n");
//continue until the user hits the <s>top key
while(!bStopContinuous)
{
if(ReadNextRecord(portNum, &Record, &cmd_return) != SUCCESS)
error_record++;
if (cmd_return == 0xC2){
if (AA_s_prev == 0){
fprintf(m_logFile, "\t 0.00");
AA_s_prev = Record.timer; //AA_Time_Stamp;
}
else
{
AA_convert = ((float)(Record.timer - AA_s_prev)/m_timerconst); //19660800);
AA_s_prev = Record.timer; //AA_Time_Stamp;
AA_prev = AA_prev + AA_convert;
fprintf(m_logFile, "\t%6.2f", AA_prev);
}
//move to the acceleration position and print the data
sprintf(consoleBuff, "\t%2.6f\t\t%2.6f\t\t%2.6f", Record.setA[0], Record.setA[1], Record.setA[2]);
fprintf(m_logFile, "%s %2.6f%s %2.6f%s %2.6f%s ", mListSep, Record.setA[0],mListSep, Record.setA[1], mListSep, Record.setA[2], mListSep);
setConXY(Curs_posX, Curs_posY -5, &consoleBuff[0]);
sprintf(consoleBuff, "\t%2.6f\t\t%2.6f\t\t%2.6f", Record.setB[0], Record.setB[1], Record.setB[2]);
fprintf(m_logFile, "%2.6f%s %2.6f%s %2.6f%s %u\n", Record.setB[0], mListSep, Record.setB[1], mListSep, Record.setB[2], mListSep, Record.timer);
setConXY(Curs_posX, Curs_posY, &consoleBuff[0]);
valid_rec++;
}else if (cmd_return != 0xc4){
if((cmd_return == 0xCB || cmd_return == 0xD3) && error_record == 0)
error_cmd = cmd_return;
else
error_record++;
}
//check for a key every 50 iterations
if(iCount++ > 50) {
int ch = 0;
if(ReadCharNoReturn(&ch)){
bStopContinuous = (ch == 's' || ch == 'S');
}
//reset the counter
iCount = 0;
}
}
printf("\n\n\nStopping Continuous Mode...");
StopContinuousMode(portNum);
printf("stopped.\n");
fclose(m_logFile);
if (error_record > 0)
printf("Number of records received in error were %d and received successfully %d\n", error_record, valid_rec);
else
printf("All %d records read successfully.\n", valid_rec);
}
/*--------------------------------------------------------------------*/
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);
}
