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firmata: Call FirmataCurieIMU firmata plugin API to retrieve raw accelerometer data

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Signed-off-by: Ron Evans <ron@hybridgroup.com>
Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
deadprogram
2016-03-08 14:22:18 -08:00
committed by Brendan Le Foll
parent de0b9e72c6
commit c302269750
1 changed files with 12 additions and 23 deletions
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35
examples/firmata_curie_imu.c
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@@ -29,9 +29,8 @@
#define FIRMATA_START_SYSEX 0xF0 #define FIRMATA_START_SYSEX 0xF0
#define FIRMATA_END_SYSEX 0xF7 #define FIRMATA_END_SYSEX 0xF7
#define FIRMATA_I2C_REPLY 0x77 #define FIRMATA_CURIE_IMU 0x11
#define FIRMATA_I2C_REQUEST 0x76 #define FIRMATA_CURIE_IMU_READ_ACCEL 0x00
#define I2C_MODE_READ 0x01
void void
interrupt(uint8_t* buf, int length) interrupt(uint8_t* buf, int length)
@@ -46,53 +45,43 @@ main()
//! [Interesting] //! [Interesting]
/** /**
* This example reads from a firmata device the check buffer on a BMP085 on * This example reads from the FirmataCurieIMU plugin
* 0xD0 which should return 0x55. Obviously I2C_REPLY has to be disabled in
* firmata_pull for this to work breaking all i2c support for firmata
*/ */
mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0"); mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");
mraa_firmata_context firm = mraa_firmata_init(FIRMATA_I2C_REPLY); mraa_firmata_context firm = mraa_firmata_init(FIRMATA_CURIE_IMU);
if (firm == NULL) { if (firm == NULL) {
return EXIT_FAILURE; return EXIT_FAILURE;
} }
mraa_firmata_response(firm, interrupt); mraa_firmata_response(firm, interrupt);
uint8_t* buffer = calloc(9, 0); uint8_t* buffer = calloc(4, 0);
if (buffer == NULL) { if (buffer == NULL) {
free(firm); free(firm);
return EXIT_FAILURE; return EXIT_FAILURE;
} }
buffer[0] = FIRMATA_START_SYSEX; buffer[0] = FIRMATA_START_SYSEX;
buffer[1] = FIRMATA_I2C_REQUEST; buffer[1] = FIRMATA_CURIE_IMU;
buffer[2] = 0x77; buffer[2] = FIRMATA_CURIE_IMU_READ_ACCEL;
buffer[3] = I2C_MODE_READ << 3; buffer[3] = FIRMATA_END_SYSEX;
// register to read from mraa_firmata_write_sysex(firm, buffer, 4);
buffer[4] = 0xD0 & 0x7f;
buffer[5] = (0xD0 >> 7) & 0x7f;
// number of bytes
buffer[6] = 1 & 0x7f;
buffer[7] = (1 >> 7) & 0x7f;
buffer[8] = FIRMATA_END_SYSEX;
mraa_firmata_write_sysex(firm, buffer, 9);
sleep(1); sleep(1);
// stop the isr and set it again // stop the isr and set it again
mraa_firmata_response_stop(firm); mraa_firmata_response_stop(firm);
mraa_firmata_response(firm, interrupt); mraa_firmata_response(firm, interrupt);
mraa_firmata_write_sysex(firm, buffer, 9); mraa_firmata_write_sysex(firm, buffer, 4);
sleep(1); sleep(1);
// close everything and try again // close everything and try again
mraa_firmata_close(firm); mraa_firmata_close(firm);
firm = mraa_firmata_init(FIRMATA_I2C_REPLY); firm = mraa_firmata_init(FIRMATA_CURIE_IMU);
mraa_firmata_response(firm, interrupt); mraa_firmata_response(firm, interrupt);
mraa_firmata_write_sysex(firm, buffer, 9); mraa_firmata_write_sysex(firm, buffer, 4);
sleep(10); sleep(10);