1 //////////////////////////////////////////////////////////////////////////////////////
2 // The MIT License (MIT)
3 //
4 // Submit Date: 03/09/2015
5 // Author: Juan Jose Chong <juanjchong@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
main(int argc,char ** argv)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