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

测试源码中循环读取驱动传到用户空间的数据：

#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; }