83 lines
3.3 KiB
C
83 lines
3.3 KiB
C
#include <stdio.h>
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/* Include files needed to use VnEzAsyncData. */
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#include "vn/sensors/ezasyncdata.h"
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int processErrorReceived(char* errorMessage, VnError errorCode);
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int main(void)
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{
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VnEzAsyncData ez;
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VnError error = E_NONE;
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size_t i = 0;
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char strConversions[50];
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/* This example walks through using the VnEzAsyncData structure to easily access
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* asynchronous data from a VectorNav sensor at a slight performance hit which is
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* acceptable for many applications, especially simple data logging. */
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/* First determine which COM port your sensor is attached to and update the
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* constant below. Also, if you have changed your sensor from the factory
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* default baudrate of 115200, you will need to update the baudrate
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* constant below as well. */
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const char SENSOR_PORT[] = "COM1"; /* Windows format for physical and virtual (USB) serial port. */
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/*const char SENSOR_PORT[] = "/dev/ttyS1"; */ /* Linux format for physical serial port. */
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/*const char SENSOR_PORT[] = "/dev/ttyUSB0"; */ /* Linux format for virtual (USB) serial port. */
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/*const char SENSOR_PORT[] = "/dev/tty.usbserial-FTXXXXXX"; */ /* Mac OS X format for virtual (USB) serial port. */
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/*const char SENSOR_PORT[] = "/dev/ttyS0"; */ /* CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1. */
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const uint32_t SENSOR_BAUDRATE = 115200;
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/* We call the initialize and connect method to connect with our VectorNav sensor. */
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if ((error = VnEzAsyncData_initializeAndConnect(&ez, SENSOR_PORT, SENSOR_BAUDRATE)) != E_NONE)
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return processErrorReceived("Error connecting to sensor.", error);
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/* Now let's display the latest yaw, pitch, roll data at 5 Hz for 5 seconds. */
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printf("Displaying yaw, pitch, roll at 5 Hz for 5 seconds.\n");
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for (i = 0; i < 25; i++)
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{
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VnCompositeData cd;
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VnThread_sleepMs(200);
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cd = VnEzAsyncData_currentData(&ez);
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str_vec3f(strConversions, cd.yawPitchRoll);
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printf("Current YPR: %s\n", strConversions);
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}
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/* Most of the asynchronous data handling is done by VnEzAsyncData but there are times
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* when we wish to configure the sensor directly while still having VnEzAsyncData do
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* most of the grunt work. This is easily accomplished and we show changing the ASCII
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* asynchronous data output type here. */
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if ((error = VnSensor_writeAsyncDataOutputType(VnEzAsyncData_sensor(&ez), VNYPR, true)) != E_NONE)
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return processErrorReceived("Error setting async data output type.", error);
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/* We can now display yaw, pitch, roll data from the new ASCII asynchronous data type. */
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printf("Displaying yaw, pitch, roll from new ASCII async type.\n");
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for (i = 0; i < 25; i++)
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{
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VnCompositeData cd;
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VnThread_sleepMs(200);
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cd = VnEzAsyncData_currentData(&ez);
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str_vec3f(strConversions, cd.yawPitchRoll);
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printf("Current YPR: %s\n", strConversions);
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}
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/* Now disconnect from the sensor since we are finished. */
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if ((error = VnEzAsyncData_disconnectAndUninitialize(&ez)) != E_NONE)
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return processErrorReceived("Error disconnecting from sensor.", error);
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return 0;
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}
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int processErrorReceived(char* errorMessage, VnError errorCode)
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{
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char errorCodeStr[100];
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strFromVnError(errorCodeStr, errorCode);
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printf("%s\nERROR: %s\n", errorMessage, errorCodeStr);
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return -1;
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}
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