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
45int
46main(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