1 ////////////////////////////////////////////////////////////////////////////////////// 2 // The MIT License (MIT) 3 // 4 // Submit Date: 03/09/2015 5 // Author: Juan Jose Chong <juanjchong (at) gmail.com> 6 // Copyright (c) 2015 Juan Jose Chong 7 // 8 ////////////////////////////////////////////////////////////////////////////////////// 9 // adis16448.cxx 10 ////////////////////////////////////////////////////////////////////////////////////// 11 // 12 // This example code runs on an Intel Edison and uses mraa to acquire data 13 // from an ADIS16448. This data is then scaled and printed onto the terminal. 14 // 15 // This software has been tested to connect to an ADIS16448 through a level shifter 16 // such as the TI TXB0104. The SPI lines (DIN, DOUT, SCLK, /CS) are all wired through 17 // the level shifter and the ADIS16448 is also being powered by the Intel Edison. 18 // 19 // Permission is hereby granted, free of charge, to any person obtaining 20 // a copy of this software and associated documentation files (the 21 // "Software"), to deal in the Software without restriction, including 22 // without limitation the rights to use, copy, modify, merge, publish, 23 // distribute, sublicense, and/or sell copies of the Software, and to 24 // permit persons to whom the Software is furnished to do so, subject to 25 // the following conditions: 26 // 27 // The above copyright notice and this permission notice shall be 28 // included in all copies or substantial portions of the Software. 29 // 30 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 31 // EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 32 // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 33 // NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 34 // LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 35 // OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 36 // WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 37 // 38 ////////////////////////////////////////////////////////////////////////////////////// 39 #include <unistd.h> 40 #include <iostream> 41 #include <signal.h> 42 43 #include "adis16448.h" 44 45 int 46 main(int argc, char **argv) 47 { 48 while(true) 49 { 50 //! [Interesting] 51 upm::ADIS16448* imu = new upm::ADIS16448(0,3); //upm::ADIS16448(SPI,RST) 52 53 //Read the specified register, scale it, and display it on the screen 54 std::cout << "XGYRO_OUT:" << imu->gyroScale(imu->regRead(XGYRO_OUT)) << std::endl; 55 std::cout << "YGYRO_OUT:" << imu->gyroScale(imu->regRead(YGYRO_OUT)) << std::endl; 56 std::cout << "ZGYRO_OUT:" << imu->gyroScale(imu->regRead(ZGYRO_OUT)) << std::endl; 57 std::cout << " " << std::endl; 58 std::cout << "XACCL_OUT:" << imu->accelScale(imu->regRead(XACCL_OUT)) << std::endl; 59 std::cout << "YACCL_OUT:" << imu->accelScale(imu->regRead(YACCL_OUT)) << std::endl; 60 std::cout << "ZACCL_OUT:" << imu->accelScale(imu->regRead(ZACCL_OUT)) << std::endl; 61 std::cout << " " << std::endl; 62 //! [Interesting] 63 sleep(1); 64 } 65 return (0); 66 } 67
