170bdd104f
Large change that removes the duplicated MIT notice withe a spdx tag Signed-off-by: Thomas Ingleby <thomas.ingleby@intel.com>
76 lines
1.6 KiB
C
76 lines
1.6 KiB
C
/*
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* Author: Brendan Le Foll
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* Copyright (c) 2016 Intel Corporation.
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*
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* SPDX-License-Identifier: MIT
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*/
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#include <unistd.h>
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#include "mraa.h"
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#include "mraa/firmata.h"
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#define FIRMATA_START_SYSEX 0xF0
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#define FIRMATA_END_SYSEX 0xF7
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#define FIRMATA_CURIE_IMU 0x11
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#define FIRMATA_CURIE_IMU_READ_ACCEL 0x00
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void
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interrupt(uint8_t* buf, int length)
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{
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printf("reg read returned: %d, with buffer size %d\n", ((buf[6] & 0x7f) | ((buf[7] & 0x7f) << 7)), length);
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}
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int
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main()
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{
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mraa_init();
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//! [Interesting]
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/**
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* This example reads from the FirmataCurieIMU plugin
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*/
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mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");
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mraa_firmata_context firm = mraa_firmata_init(FIRMATA_CURIE_IMU);
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if (firm == NULL) {
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return EXIT_FAILURE;
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}
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mraa_firmata_response(firm, interrupt);
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char* buffer = calloc(4, 0);
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if (buffer == NULL) {
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free(firm);
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return EXIT_FAILURE;
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}
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buffer[0] = FIRMATA_START_SYSEX;
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buffer[1] = FIRMATA_CURIE_IMU;
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buffer[2] = FIRMATA_CURIE_IMU_READ_ACCEL;
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buffer[3] = FIRMATA_END_SYSEX;
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mraa_firmata_write_sysex(firm, buffer, 4);
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sleep(1);
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// stop the isr and set it again
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mraa_firmata_response_stop(firm);
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mraa_firmata_response(firm, interrupt);
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mraa_firmata_write_sysex(firm, buffer, 4);
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sleep(1);
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// close everything and try again
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mraa_firmata_close(firm);
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firm = mraa_firmata_init(FIRMATA_CURIE_IMU);
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mraa_firmata_response(firm, interrupt);
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mraa_firmata_write_sysex(firm, buffer, 4);
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sleep(10);
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mraa_firmata_close(firm);
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//! [Interesting]
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return EXIT_SUCCESS;
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}
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