float get_acel_value(Axis_Op axis, ADXL_Addr_Dev dev){
status_code_t result;
float acel_value = -16000;
uint16_t adxl = 0;
uint8_t b[2];
memset(b, 0, sizeof(b));
switch (axis) {
case Axis_X:
result = adxl_read(dev, b, ADXL_DataX0, sizeof(b));
break;
case Axis_Y:
result = adxl_read(dev, b, ADXL_DataY0, sizeof(b));
break;
case Axis_Z:
result = adxl_read(dev, b, ADXL_DataZ0, sizeof(b));
break;
}
if (result != STATUS_OK){
return acel_value;
}
adxl = (uint16_t)( (b[1] << 8) | b[0] );
if ( !(adxl & 0xFC00) ){
acel_value = CONST_ADXL * ((float) adxl);
} else {
adxl = ( ( (~adxl) +1 ) & 0x03FF);
acel_value = -(CONST_ADXL * ((float) adxl) );
}
return acel_value;
}
int main(int argc, char* argv[])
{
int fd;
int ret = 0;
signed short int x,y,z;//三轴加速度
// 1 打开 ,从设备打开
fd = open(DEV, O_RDWR);
if (fd<0) {
perror("open:");
return -1;
}
// 2 设置从设备地址
ret = ioctl(fd, I2C_SLAVE, ADDRESS);
if (ret<0) {
perror("ioctl:");
goto CLOSE;
}
// 3 操作:读取器件id
ret = adxl_read(fd, DEVID);
printf("器件ID[0x%02x]=0x%02x\n", DEVID, ret);
// 4 设置->启动,具体参见芯片手册.
// 这里仅设置有限的读取数值功能.其实太复杂的还没搞懂:P
adxl_write(fd, POWER_CTL, 0x28);
// 5 循环测量(读取三轴加速度)
for (;;) {
x = adxl_read_short(fd, DATAX0);
y = adxl_read_short(fd, DATAY0);
z = adxl_read_short(fd, DATAZ0);
printf("x=%5d y=%5d z=%5d\n", x,y,z);
usleep(100*1000);
}
CLOSE:
close(fd);
return 0;
}
void getAllAcelValue(ADXL_Addr_Dev dev, double *acel){
status_code_t result;
memset(acel, (-16000), NUM_AXIS);
uint8_t b[6] = {0};
uint16_t adxl = 0;
uint8_t i = 0;
/* Check if the dev exists: */
if (imu_probe(dev) != TWI_SUCCESS){
return;
}
//Read all axis address:
result = adxl_read(dev, b, ADXL_DataX0, sizeof(b));
//If there is an error in read return with wrong values:
if (result != STATUS_OK) return;
//Convert each axis from two complements to float:
for (i = 0; i < NUM_AXIS; i++){
adxl = (uint16_t)( (b[(2*i)+1] << 8) | b[(2*i)] );
if ( !(adxl & 0xFC00) ){
acel[i] = CONST_ADXL * ((float) adxl);
} else {
adxl = ( ( (~adxl) +1 ) & 0x03FF);
acel[i] = -(CONST_ADXL * ((float) adxl) );
}
acel[i] += offsetAcel[i]; //Apply Offset
}
}
int print_regs(int fd, int from, int to)
{
int i;
int ret;
for (i = from; i<=to; i++) {
ret = adxl_read(fd, i);
if (ret<0) {
perror("读取测试寄存器");
}
printf("[0x%02X]=0x%02X\t", i, ret);
if ((i-from+1)%4==0) {
printf("\n");
}
}
printf("\n");
return 0;
}
// 主函数
int main(int argc, char* argv[])
{
int fd;
int ret = 0;
int funcs;
int i;
// 1 打开 ,从设备打开
if (argc==2) {
fd = open(argv[1], O_RDWR);
} else {
fd = open(DEV, O_RDWR);
}
if (fd<0) {
perror("打开:");
printf("fd=%d\n", fd);
return -1;
}
// 1.1 获得支持函数列表<不必须>但是可以知道很多有用的信息
// 支持的函数返回,并保存在 funcs 中.
if ((ret = ioctl(fd, I2C_FUNCS, &funcs)<0))
{
perror("获得支持函数列表");
return -1;
}
// check for req funcs 通过 & 操作得到是不是支持这些函数.
// 应用层可以判断什么函数能用,什么不能用.类似向下兼容的作用
CHECK_I2C_FUNC(funcs, I2C_FUNC_SMBUS_READ_BYTE);
CHECK_I2C_FUNC(funcs, I2C_FUNC_SMBUS_WRITE_BYTE);
CHECK_I2C_FUNC(funcs, I2C_FUNC_SMBUS_READ_BYTE_DATA);
CHECK_I2C_FUNC(funcs, I2C_FUNC_SMBUS_WRITE_BYTE_DATA);
CHECK_I2C_FUNC(funcs, I2C_FUNC_SMBUS_READ_WORD_DATA);
CHECK_I2C_FUNC(funcs, I2C_FUNC_SMBUS_WRITE_WORD_DATA);
// 2 设置从设备地址
ret = ioctl(fd, I2C_SLAVE, ADDRESS);
if (ret<0) {
perror("ioctl:");
printf("i2c_slave=%d\n", I2C_SLAVE);
goto CLOSE;
}
//读取器件id
ret = adxl_read(fd, REG_DEVID);
if (ret<0) {
perror("器件id");
}
printf("器件ID[0x%X]=0x%X\n", REG_DEVID, ret);
#if 0
//其他寄存器测试
printf("所有寄存器读取测试:\n");
print_regs(fd, 0x1E, 0x39);
#endif
adxl_write(fd, DATA_FORMAT, 0b01);
adxl_write(fd, POWER_CTL, 0x28);
adxl_write(fd, BW_RATE, 0x0B);
adxl_write(fd, INT_ENABLE, 0x00);
#if 1
__u16 x;
for (;;) {
x = adxl_read_byte(fd, DATAX0);
printf("x=%X\n", x);
usleep(100*1000);
}
#endif
#if 0
int x, y, z;
int x0, x1, y0, y1, z0, z1;
for (;;) {
x0 = adxl_read(fd, DATAX0);
x1 = adxl_read(fd, DATAX1);
y0 = adxl_read(fd, DATAY0);
y1 = adxl_read(fd, DATAY1);
z0 = adxl_read(fd, DATAZ0);
z1 = adxl_read(fd, DATAZ1);
x = x0;
y = y0;
z = z0;
guixyz('x', x);
guixyz('y', y);
guixyz('z', z);
printf("\n");
//printf("x0:%03d x1:%03d \n",x0,x1);
//printf("y0:%03d y1:%03d \n",y0,y1);
//printf("z0:%03d z1:%03d \n",z0,z1);
//printf("x=%03d y=%03d z=%03d \n",x,y,z);
usleep(100*1000);
printf("\f");
}
#endif
CLOSE:
close(fd);
return 0;
}