飞凌嵌入式ElfBoard ELF 1板卡-运动追踪之编写程序
编程步骤（一）打开设备
#define ICM20607_DEV "/dev/icm20607"
fd = open(ICM20607_DEV, O_RDWR);
if(fd < 0) {
printf("can't open file %s\r\n", ICM20607_DEV);
return -1;
}宏定义板卡上的传感器节点为/dev/icm20607；
使用open()打开传感器，如果错误返回-1；
（二）读取数据
ret = read(fd, databuf, sizeof(databuf));使用read将设备中的数据读取出来放入datebuf中。
（三）定义数组成员
gyro_x_adc = databuf;
gyro_y_adc = databuf;
gyro_z_adc = databuf;
accel_x_adc = databuf;
accel_y_adc = databuf;
accel_z_adc = databuf;
temp_adc = databuf;把x、y、z轴的角速度，x、y、z轴的加速度和温度一共7个元素填入数组内，这些成员是从设备中读取出来的数据。
（四）数据类型转换
gyro_x_act = (float)(gyro_x_adc)/ 16.4;
gyro_y_act = (float)(gyro_y_adc)/ 16.4;
gyro_z_act = (float)(gyro_z_adc)/ 16.4;
accel_x_act = (float)(accel_x_adc) / 2048;
accel_y_act = (float)(accel_y_adc) / 2048;
accel_z_act = (float)(accel_z_adc) / 2048;
temp_act = ((float)(temp_adc) - 25 ) / 326.8 + 25;因为角速度、加速度和温度这些都不能用常量表示，所以需要给他们转换成浮点量，并做相应数学计算，以转换成我们可读的数据。
（五）关闭设备
close(fd);详细代码
elf1_cmd_icm20607：
elf1_cmd_icm20607：
#include "stdio.h"
#include "unistd.h"
#include "sys/types.h"
#include "sys/stat.h"
#include "sys/ioctl.h"
#include "fcntl.h"
#include "stdlib.h"
#include "string.h"
#include <poll.h>
#include <sys/select.h>
#include <sys/time.h>
#include <signal.h>
#include <fcntl.h>
#define ICM20607_DEV "/dev/icm20607"
int main(int argc, char *argv[])
{
int fd;
signed int databuf;
unsigned char data;
signed int gyro_x_adc, gyro_y_adc, gyro_z_adc;
signed int accel_x_adc, accel_y_adc, accel_z_adc;
signed int temp_adc;
float gyro_x_act, gyro_y_act, gyro_z_act;
float accel_x_act, accel_y_act, accel_z_act;
float temp_act;
int ret = 0;
fd = open(ICM20607_DEV, O_RDWR);
if(fd < 0) {
printf("can't open file %s\r\n", ICM20607_DEV);
return -1;
}
while (1) {
ret = read(fd, databuf, sizeof(databuf));
if(ret == 0) { /* ?????? */
gyro_x_adc = databuf;
gyro_y_adc = databuf;
gyro_z_adc = databuf;
accel_x_adc = databuf;
accel_y_adc = databuf;
accel_z_adc = databuf;
temp_adc = databuf;
/* ????? */
gyro_x_act = (float)(gyro_x_adc)/ 16.4;
gyro_y_act = (float)(gyro_y_adc)/ 16.4;
gyro_z_act = (float)(gyro_z_adc)/ 16.4;
accel_x_act = (float)(accel_x_adc) / 2048;
accel_y_act = (float)(accel_y_adc) / 2048;
accel_z_act = (float)(accel_z_adc) / 2048;
temp_act = ((float)(temp_adc) - 25 ) / 326.8 + 25;
printf("\r\n");
printf("raw value:\r\n");
printf("gx = %d, gy = %d, gz = %d\r\n", gyro_x_adc, gyro_y_adc, gyro_z_adc);
printf("ax = %d, ay = %d, az = %d\r\n", accel_x_adc, accel_y_adc, accel_z_adc);
printf("temp = %d\r\n", temp_adc);
printf("\r\n");
printf("act value:\r\n");
printf("act gx = %.2f度/S, act gy = %.2f度/S, act gz = %.2f度/S\r\n", gyro_x_act, gyro_y_act, gyro_z_act);
printf("act ax = %.2fg, act ay = %.2fg, act az = %.2fg\r\n", accel_x_act, accel_y_act, accel_z_act);
printf("act temp = %.2f摄氏度\r\n", temp_act);
}
sleep(1); /*1s */
}
close(fd);
return 0;
}
页:
[1]