/*----------------------------------------------------------------------
* i3dmgx3_getEEPROMValue 0xE5
*
* parameters portNum : the number of the sensor device (1..n)
* address : the EEPROM address location
* readFlag : specifies the number of reads required.
* and identifies data type long or float.
* value : the value to get at the address specified
*
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*--------------------------------------------------------------------*/
int i3dmgx3_getEEPROMValue(int portNum, char address, int readFlag, int *readval) {
int status = 0;
long bytesRead = 0;
unsigned char Bresponse[5] = {0};
unsigned char BFresponse[5] = {0};
unsigned char ConvertBuff[4] = {0};
int responseLength = 5;
unsigned long nvalL=0;
unsigned short nvalA=0, nvalB=0;
float nvalF=0.0;
unsigned char zoutbuff[4];
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
zoutbuff[0] = 0xE5; // EEPROM command identifier
zoutbuff[1] = 0x00; // Required identifier
zoutbuff[2] = 0xFC; // Required identifier
zoutbuff[3] = address; // EEPROM address location
status = sendBuffData(portNum, &zoutbuff[0], 4);
if (DEBUG) printf(" eeprom read status is %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], 5);
if (status == I3DMGX3_COMM_OK) {
status = I3DMGX3_OK;
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
nvalA = convert2ushort(&Bresponse[1]);
if (readFlag > 0) {
ConvertBuff[3] = Bresponse[2];
ConvertBuff[2] = Bresponse[1];
zoutbuff[3] = address + 2;
status = sendBuffData(portNum, &zoutbuff[0], 4);
if (status != I3DMGX3_COMM_OK)
return status;
status = receiveData(portNum, &BFresponse[0], 5);
if (status == I3DMGX3_COMM_OK) {
status = I3DMGX3_OK;
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&BFresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
nvalB = convert2ushort(&BFresponse[1]);
ConvertBuff[1] = BFresponse[2];
ConvertBuff[0] = BFresponse[1];
nvalF = FloatFromBytes(&ConvertBuff[0]);
nvalL = convert2ulong(&ConvertBuff[0]);
if (readFlag == 1){
printf(" At addr.:0x%X where value is: %ld \n", zoutbuff[3], nvalL);
*readval = nvalL;
}
else{
printf(" At addr.:0x%X where value is: %f \n", zoutbuff[3], nvalF);
*readval = nvalF;
}
}else
return status = I3DMGX3_COMM_READ_ERROR;
}else{
printf(" At addr.:0x%X where value is: %d \t0x%X\n", address, nvalA, nvalA);
*readval = nvalA;
}
}else
return status = I3DMGX3_COMM_READ_ERROR;
}
return status;
}
/*--------------------------------------------------------------------*/
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);
}
