64 lines
1.2 KiB
C
64 lines
1.2 KiB
C
#include "cvi_gyro.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/time.h>
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int main(int argc, char **argv)
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{
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int ret = CVI_SUCCESS;
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int calibration = 0;
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int who_ma_i = 0;
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int reset = 0;
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uint16_t accelsensitivity = 16384; // = 16384 LSB/g
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CVI_S16 acc_val[3];
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CVI_U8 gyro_id;
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float ax, ay, az;
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for (int i = 1; i < argc; ++i) {
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if (!strcmp(argv[i], "cal"))
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calibration = 1;
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if (!strcmp(argv[i], "check"))
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who_ma_i = 1;
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if (!strcmp(argv[i], "reset"))
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reset = 1;
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}
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ret = CVI_GYRO_Create();
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if (ret != CVI_SUCCESS) {
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printf("gyro instance create failed\n");
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return CVI_FAILURE;
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}
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if (reset) {
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CVI_GYRO_Reset();
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}
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if (who_ma_i) {
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CVI_GYRO_WHO_AM_I(&gyro_id);
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printf("Who am i (0x%02x)\n", gyro_id);
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}
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if (calibration) {
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CVI_GYRO_ACC_CALIBRATION();
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}
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//CVI_GYRO_GET_AX(&acc_val[0]);
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//CVI_GYRO_GET_AY(&acc_val[1]);
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//CVI_GYRO_GET_AZ(&acc_val[2]);
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// or one time ioctl;
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CVI_GYRO_GET_A_XYZ(&acc_val[0], &acc_val[1], &acc_val[2]);
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ax = (float)acc_val[0] / (float)accelsensitivity;
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ay = (float)acc_val[1] / (float)accelsensitivity;
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az = (float)acc_val[2] / (float)accelsensitivity;
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printf("A:(x:%f y:%f z:%f)\n", ax, ay, az);
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CVI_GYRO_Destroy();
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return ret;
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}
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