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/*
* Author: Brendan Le Foll
* Copyright (c) 2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include "mraa.h"
#include "mraa/firmata.h"
#define FIRMATA_START_SYSEX 0xF0
#define FIRMATA_END_SYSEX 0xF7
#define FIRMATA_CURIE_IMU 0x11
#define FIRMATA_CURIE_IMU_READ_ACCEL 0x00
void
interrupt(uint8_t* buf, int length)
{
printf("reg read returned: %d, with buffer size %d\n", ((buf[6] & 0x7f) | ((buf[7] & 0x7f) << 7)), length);
}
int
main()
{
mraa_init();
//! [Interesting]
/**
* This example reads from the FirmataCurieIMU plugin
*/
mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");
mraa_firmata_context firm = mraa_firmata_init(FIRMATA_CURIE_IMU);
if (firm == NULL) {
return EXIT_FAILURE;
}
mraa_firmata_response(firm, interrupt);
uint8_t* buffer = calloc(4, 0);
if (buffer == NULL) {
free(firm);
return EXIT_FAILURE;
}
buffer[0] = FIRMATA_START_SYSEX;
buffer[1] = FIRMATA_CURIE_IMU;
buffer[2] = FIRMATA_CURIE_IMU_READ_ACCEL;
buffer[3] = FIRMATA_END_SYSEX;
mraa_firmata_write_sysex(firm, buffer, 4);
sleep(1);
// stop the isr and set it again
mraa_firmata_response_stop(firm);
mraa_firmata_response(firm, interrupt);
mraa_firmata_write_sysex(firm, buffer, 4);
sleep(1);
// close everything and try again
mraa_firmata_close(firm);
firm = mraa_firmata_init(FIRMATA_CURIE_IMU);
mraa_firmata_response(firm, interrupt);
mraa_firmata_write_sysex(firm, buffer, 4);
sleep(10);
mraa_firmata_close(firm);
//! [Interesting]
return EXIT_SUCCESS;
}
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