void ecezo_close(ecezo_context dev)
{
assert(dev != NULL);
if (dev->uart)
mraa_uart_stop(dev->uart);
if (dev->i2c)
mraa_i2c_stop(dev->i2c);
free(dev);
}
mrb_value mrb_mraa_uart_stop(mrb_state *mrb, mrb_value self) {
mraa_uart_context uart;
mraa_result_t result;
uart = (mraa_uart_context)mrb_data_get_ptr(mrb, self, &mrb_mraa_uart_ctx_type);
result = mraa_uart_stop(uart);
if (result != MRAA_SUCCESS) {
mrb_raise(mrb, E_RUNTIME_ERROR, "Could not stop port");
}
return self;
}
void rn2903_close(rn2903_context dev)
{
assert(dev != NULL);
if (dev->to_hex_buf)
free(dev->to_hex_buf);
if (dev->from_hex_buf)
free(dev->from_hex_buf);
if (dev->uart)
mraa_uart_stop(dev->uart);
free(dev);
}
/**
* Uart destructor
*/
~Uart()
{
mraa_uart_stop(m_uart);
}
int main()
{
int sampleCount = 0;
int sampleRate = 0;
uint64_t rateTimer;
uint64_t displayTimer;
uint64_t now;
// Using RTIMULib here allows it to use the .ini file generated by RTIMULibDemo.
// Or, you can create the .ini in some other directory by using:
// RTIMUSettings *settings = new RTIMUSettings("<directory path>", "RTIMULib");
// where <directory path> is the path to where the .ini file is to be loaded/saved
RTIMUSettings *settings = new RTIMUSettings("RTIMULib");
RTIMU *imu = RTIMU::createIMU(settings);
if ((imu == NULL) || (imu->IMUType() == RTIMU_TYPE_NULL)) {
printf("No IMU found\n");
exit(1);
}
// This is an opportunity to manually override any settings before the call IMUInit
// set up IMU
imu->IMUInit();
// this is a convenient place to change fusion parameters
imu->setSlerpPower(0.02);
imu->setGyroEnable(true);
imu->setAccelEnable(true);
imu->setCompassEnable(true);
// Set up serial out UART ports
mraa_uart_context uart;
//uart = mraa_uart_init(0);
uart=mraa_uart_init_raw("/dev/ttyGS0");
mraa_uart_set_baudrate(uart, 9600);
if (uart == NULL) {
fprintf(stderr, "UART failed to setup\n");
return 0;
}
char buffer[20]={}; // To hold output
while (1) {
while (imu->IMURead()) {
RTIMU_DATA imuData = imu->getIMUData();
//sleep(1);
printf("%s\r", RTMath::displayDegrees("Gyro", imuData.fusionPose) );
//printf("\nx %f ",imuData.gyro.x()*(180.0/3.14));
//printf("\ny %f ",imuData.gyro.y()*(180.0/3.14));
//printf("\nz %f\n",imuData.gyro.z()*(180.0/3.14));
sprintf(buffer,"%4f\n",imuData.fusionPose.x()*(180.0/3.14));
mraa_uart_write(uart, buffer, sizeof(buffer));
printf("\n\n");
//imuData.
fflush(stdout);
//displayTimer = now;
}
}
mraa_uart_stop(uart);
mraa_deinit();
}
void serial_close(void){
mraa_uart_stop(uart);
mraa_deinit();}
