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half baked communication with shitty invensense

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This commit is contained in:
Stephen Birarda 2013-05-01 12:50:02 -07:00
parent 04b29182a8
commit ff974b6cd5
3 changed files with 94 additions and 1 deletions
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3
CMakeLists.txt
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@ -9,4 +9,5 @@ add_subdirectory(eve)
add_subdirectory(interface)
add_subdirectory(injector)
add_subdirectory(space-server)
add_subdirectory(voxel-server)
add_subdirectory(voxel-server)
add_subdirectory(invensense-test)

13
invensense-test/CMakeLists.txt Normal file
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@ -0,0 +1,13 @@
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})

79
invensense-test/src/main.cpp Normal file
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@ -0,0 +1,79 @@
//
// 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>
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);
tcflush(serialFd, TCIOFLUSH);
char gyroBuffer[12] = {};
int16_t gyroX, gyroY, gyroZ;
char statusByte[4] = {};
int dataReadyVal = 0;
while (true) {
write(serialFd, "RS3A\n", 5);
read(serialFd, statusByte, 4);
printf("The status byte read was %c%c%c%c\n", statusByte[0], statusByte[1], statusByte[2], statusByte[3]);
dataReadyVal = statusByte[3] - '0';
if (dataReadyVal % 2 == 1) {
tcflush(serialFd, TCIOFLUSH);
write(serialFd, "RD684306\n", 9);
printf("Read %ld bytes from serial\n", read(serialFd, gyroBuffer, 12));
printf("The first six chars %c%c%c%c%c%c\n", gyroBuffer[0], gyroBuffer[1], gyroBuffer[2], gyroBuffer[3], gyroBuffer[4], gyroBuffer[5]);
gyroX = (gyroBuffer[6] << 8) | gyroBuffer[7];
gyroY = (gyroBuffer[8] << 8) | gyroBuffer[9];
gyroZ = (gyroBuffer[10] << 8) | gyroBuffer[11];
printf("The gyro data %d, %d, %d\n", gyroX, gyroY, gyroZ);
}
tcflush(serialFd, TCIOFLUSH);
}
close(serialFd);
return 0;
}