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remove the invensense testing program

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This commit is contained in:
Stephen Birarda 2013-05-02 12:27:21 -07:00
parent 9e3b862c67
commit 4a3d713bc7
3 changed files with 1 additions and 109 deletions
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3
CMakeLists.txt
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@ -9,5 +9,4 @@ add_subdirectory(eve)
add_subdirectory(interface)
add_subdirectory(injector)
add_subdirectory(space-server)
add_subdirectory(voxel-server)
add_subdirectory(invensense-test)
add_subdirectory(voxel-server)

13
invensense-test/CMakeLists.txt
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@ -1,13 +0,0 @@
cmake_minimum_required(VERSION 2.8)
set(ROOT_DIR ..)
set(MACRO_DIR ${ROOT_DIR}/cmake/macros)
set(TARGET_NAME invensense-test)
include(${MACRO_DIR}/SetupHifiProject.cmake)
setup_hifi_project(${TARGET_NAME})
# link the shared hifi library
include(${MACRO_DIR}/LinkHifiLibrary.cmake)
link_hifi_library(shared ${TARGET_NAME} ${ROOT_DIR})

94
invensense-test/src/main.cpp
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@ -1,94 +0,0 @@
//
// main.cpp
// invensense-test
//
// Created by Stephen Birarda on 4/30/13.
// Copyright (c) 2013 High Fidelity. All rights reserved.
//
#include <iostream>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <dirent.h>
#include <SharedUtil.h>
void loadIntFromTwoHex(char* sourceBuffer, int& destinationInt) {
unsigned int byte[2];
for(int i = 0; i < 2; i++) {
sscanf(sourceBuffer + 2 * i, "%2x", &byte[i]);
// printf("The hex code is 0x%c%c so the byte is %d\n", (sourceBuffer + 2 * i)[0], (sourceBuffer + 2 * i)[1], byte[i]);
}
int16_t result = (byte[0] << 8);
result += byte[1];
destinationInt = result;
}
int main(int argc, char* argv[]) {
int serialFd = open("/dev/tty.usbmodemfa141", O_RDWR | O_NOCTTY | O_NDELAY);
struct termios options;
tcgetattr(serialFd, &options);
cfsetispeed(&options,B115200);
cfsetospeed(&options,B115200);
options.c_cflag |= (CLOCAL | CREAD);
options.c_cflag &= ~PARENB;
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
tcsetattr(serialFd,TCSANOW,&options);
// Flush the port's buffers (in and out) before we start using it
tcflush(serialFd, TCIOFLUSH);
// block on read until data is available
int currentFlags = fcntl(serialFd, F_GETFL);
fcntl(serialFd, F_SETFL, currentFlags & ~O_NONBLOCK);
write(serialFd, "WR686B01\n", 9);
usleep(100000);
write(serialFd, "SD\n", 3);
usleep(100000);
tcflush(serialFd, TCIOFLUSH);
char gyroBuffer[20] = {};
int gyroX, gyroY, gyroZ;
int readBytes = 0;
double lastRead = usecTimestampNow();
while (true) {
if (usecTimestampNow() - lastRead >= 10000) {
write(serialFd, "RD684306\n", 9);
readBytes = read(serialFd, gyroBuffer, 20);
// printf("Read %d bytes from serial\n", readBytes);
// printf("The first two characters are %c%c\n", gyroBuffer[0], gyroBuffer[1]);
if (readBytes == 20 && gyroBuffer[0] == 'R' && gyroBuffer[1] == 'D') {
loadIntFromTwoHex(gyroBuffer + 6, gyroX);
loadIntFromTwoHex(gyroBuffer + 10, gyroY);
loadIntFromTwoHex(gyroBuffer + 14, gyroZ);
printf("The gyro data %d, %d, %d\n", gyroX, gyroY, gyroZ);
}
lastRead = usecTimestampNow();
}
}
close(serialFd);
return 0;
}