int main(int argc, char **argv) {
int i2c_file;
int8_t x, y, z; /* The readings are 8 bits and signed */
/* Open a connection to the I2C userspace control file */
if ((i2c_file = open(I2C_FILE_NAME, O_RDWR)) < 0) {
/* Error Indication */
perror("Unable to open i2c control file");
exit(1);
}
/* Success Indication */
// printf("Initialized\n");
/* Set control register */
if( set_i2c_register(i2c_file, MMA7455_I2CADDR, MMA7455_CTRLADDR, 0x45) ) {
/* Error Indication */
printf("Unable to set control register!\n");
return -1;
}
/* Success Indication */
// printf("Set control register successfully\n");
// MOje
// while (1) {
/* Read X, Y, and Z from the register */
if( get_i2c_register(i2c_file, MMA7455_I2CADDR, MMA7455_XOUT8, &x) ||
get_i2c_register(i2c_file, MMA7455_I2CADDR, MMA7455_YOUT8, &y) ||
get_i2c_register(i2c_file, MMA7455_I2CADDR, MMA7455_ZOUT8, &z) ) {
/* Error Indication */
printf("Unable to read register\n");
return -1;
}
/* Success Indication */
/* Debug line that prints out registers */
printf("%d\t|%d\t|%d\n", x, y, z);
// }
/* Cleanup and Exit */
close(i2c_file);
return 0;
}
void main()
{
int i2c_file;
int i;
unsigned char val;
short accel[3]={0};
short gyro[3]={0};
if ((i2c_file = open(I2C_FILE_NAME, O_RDWR)) < 0) {
perror("Unable to open i2c control file");
exit(1);
}
mpu6050_init(i2c_file);
initkalman();
while(1)
{
getmotion6(i2c_file,&accel[0],&accel[1],&accel[2],&gyro[0],&gyro[1],&gyro[2]);
kalman((float)gyro[0],(float)gyro[1],(float)gyro[2],(float)accel[0],(float)accel[1],(float)accel[2]);
IMUupdate((float)predictdata[3],(float)predictdata[4],(float)predictdata[5],(float)predictdata[0],(float)predictdata[1],(float)predictdata[2]);
//printf("accel = %d ,%d ,%d ,gyro = %d ,%d ,%d\n",accel[0],accel[1],accel[2],gyro[0],gyro[1],gyro[2]);
//printf("q0 = %f,q1 = %f,q2 = %f,q3 = %f\n",q0,q1,q2,q3);
printf("Pitch = %f,Roll = %f,Yaw = %f\n",Pitch,Roll,Yaw);
}
for(i=0;i<=0x75;i++)
{
get_i2c_register(i2c_file,0x68,i,&val);
printf("addr %x= %x\n",i,val);
}
}
int main(int argc, char **argv) {
int i2c_file;
// Open a connection to the I2C userspace control file.
if ((i2c_file = open(I2C_FILE_NAME, O_RDWR)) < 0) {
perror("Unable to open i2c control file");
exit(1);
}
if(argc > 3 && !strcmp(argv[1], "r")) {
int addr = strtol(argv[2], NULL, 0);
int reg = strtol(argv[3], NULL, 0);
unsigned char value;
if(get_i2c_register(i2c_file, addr, reg, &value)) {
printf("Unable to get register!\n");
}
else {
printf("Register %d: %d (%x)\n", reg, (int)value, (int)value);
}
}
else if(argc > 4 && !strcmp(argv[1], "w")) {
int addr = strtol(argv[2], NULL, 0);
int reg = strtol(argv[3], NULL, 0);
int value = strtol(argv[4], NULL, 0);
if(set_i2c_register(i2c_file, addr, reg, value)) {
printf("Unable to get register!\n");
}
else {
printf("Set register %x: %d (%x)\n", reg, value, value);
}
}
else {
fprintf(stderr, USAGE_MESSAGE, argv[0], argv[0]);
}
close(i2c_file);
return 0;
}
