Regmap子系统之六轴传感器驱动-编写测试源码icm20607_app.c

#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[7];

unsigned char data[14];

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) { /*读取出原始值 */

gyro_x_adc = databuf[0];

gyro_y_adc = databuf[1];

gyro_z_adc = databuf[2];

accel_x_adc = databuf[3];

accel_y_adc = databuf[4];

accel_z_adc = databuf[5];

temp_adc = databuf[6];

/* 转换为实际值 */

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);

}

usleep(100000); /*100ms */

}

close(fd);

return 0;

}