#include <stdio.h> #include <stdlib.h> #include <linux/i2c-dev.h> #include <fcntl.h> #include <string.h> #include <sys/ioctl.h> #include <sys/types.h> #include <sys/stat.h> #include <unistd.h> #include <iostream>
int main(int argc, char **argv) { printf("**** ADXL435 example program ****\n"); int fd; // File descrition char *fileName = "/dev/i2c-1"; // Name of the port we will be using int address = 0x53; // Address of the SRF02 shifted right one bit char buf[6]; // Buffer for data being read/ written on the i2c bus short x,y,z;
if ((fd = open(fileName, O_RDWR)) < 0) { // Open port for reading and writing printf("Failed to open i2c port\n"); exit(1); } if (ioctl(fd, I2C_SLAVE, address) < 0) { // Set the port options and set the address of the device we wish to speak to printf("Unable to get bus access to talk to slave\n"); exit(1); }
buf[0] = 0x2d; // Commands for performing a ranging buf[1] = 0x18; if ((write(fd, buf, 2)) != 2) { // Write commands to the i2c port printf("Error writing to i2c slave\n"); exit(1); }
buf[0] = 0x31; // Commands for performing a ranging buf[1] = 0x09; if ((write(fd, buf, 2)) != 2) { // Write commands to the i2c port printf("Error writing to i2c slave\n"); exit(1); }
// This sleep waits for the ping to come back while(true){
buf[0] = 0x32; // This is the register we wish to read from if ((write(fd, buf, 1)) != 1) { // Send the register to read from printf("Error writing to i2c slave\n"); exit(1); }
usleep(1000); memset(&buf,0,sizeof(buf));
if (read(fd, buf, 6) != 6) { // Read back data into buf[] printf("Unable to read from slave\n"); exit(1); } else { x=y=z=0; // memset(&buf,0,sizeof(buf));
x = ((short)buf[1]<<8) | (short) buf[0]; y = ((short)buf[3]<<8) | (short) buf[2]; z = ((short)buf[5]<<8) | (short) buf[4]; std::cout<<"x:"<<x<<"\ty:"<<y<<"\tz:"<<z<<std::endl; } } return 0; } |
