ubantu获取信息_Ubuntu 获取 imu 数据

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main.h

#include

#include

#include

#include

#include

#include

#include

#include

#include

#include

#include

#include

#include

#include

using namespace cv;

using namespace std;

struct STime

{

unsigned char ucYear;

unsigned char ucMonth;

unsigned char ucDay;

unsigned char ucHour;

unsigned char ucMinute;

unsigned char ucSecond;

unsigned short usMiliSecond;

};

struct SAcc

{

short a[3];

short T;

};

struct SGyro

{

short w[3];

short T;

};

struct SAngle

{

short Angle[3];

short T;

};

struct SMag

{

short h[3];

short T;

};

struct SDStatus

{

short sDStatus[4];

};

struct SPress

{

long lPressure;

long lAltitude;

};

struct SLonLat

{

long lLon;

long lLat;

};

struct SGPSV

{

short sGPSHeight;

short sGPSYaw;

long lGPSVelocity;

};

struct FOUR

{

short four[4] ;

};

struct STime stcTime;

struct SAcc stcAcc;

struct SGyro stcGyro;

struct SAngle stcAngle;

struct SMag stcMag;

struct SDStatus stcDStatus;

struct SPress stcPress;

struct SLonLat stcLonLat;

struct SGPSV stcGPSV;

struct FOUR stcFour;

Mat capFrame;

#include /*标准输入输出定义*/#include /*标准函数库定义*/#include /*Unix 标准函数定义*/#include #include #include /*文件控制定义*/#include /*PPSIX 终端控制定义*/#include /*错误号定义*/#include #include

#include "main.h"#define SERIAL_PORT "/dev/ttyUSB0" //串口地址#define G 9.79361 #define PI 3.1415926#define alpha 1 float length_x=0;float length_y=0;float length=0;int main(){ int fd;struct termios opt;fd = open(SERIAL_PORT,O_RDWR | O_NOCTTY | O_NDELAY);

//默认为阻塞读方式if (fd == -1){perror("open serial 0\n");return 0;}tcgetattr(fd,&opt);cfsetispeed(&opt,B115200);if (tcsetattr(fd,TCSANOW,&opt) != 0){perror("tcsetattr error");return 0;}opt.c_cflag &= ~CSIZE;opt.c_cflag |= CS8;opt.c_cflag &= ~CSTOPB;opt.c_cflag

&= ~PARENB;opt.c_cflag &= ~INPCK;opt.c_cflag |= (CLOCAL | CREAD);opt.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);opt.c_oflag &= ~OPOST;opt.c_oflag &= ~(ONLCR | OCRNL);opt.c_iflag &= ~(ICRNL | INLCR);opt.c_iflag &= ~(IXON | IXOFF | IXANY);opt.c_cc[VTIME] = 0;opt.c_cc[VMIN]

= 0;tcflush(fd,TCIOFLUSH);printf("configure complete\n");if (tcsetattr(fd,&opt) != 0){perror("serial error");return 0;}printf("start send and receive data\n"); /*ret >0,表示写入了多少字节 =0，没有写入字节 =-1，出错了 ret = write(fd,br_str,sizeof(br_str)); if (ret

!= sizeof(br_str)) { ERR_MSG("Write %s failed!\n",led->brightness); close(fd); return -1; } *//*usRxLength=write(fd,&turn_,1);while(1){ char turn_; turn_=0x11;usRxLength=write(fd,1);}*/ float div;int i=0;int p=0; int len; int n; char read_buf[200];

float ax=0;float ay=0;float az=0;float vx=0;float vy=0;float vz=0;float roll;float pitch;float yaw;FILE *fpWrite=fopen("data.txt","w"); if(fpWrite==NULL) { return 0; } while(1) { int usRxLength = read(fd,read_buf,200); printf("usRxLength=%d\r\n",usRxLength);

if (usRxLength < 11) continue; usleep(14000); static unsigned char chrTemp[200]; memcpy(chrTemp,usRxLength);while (usRxLength >= 11){if (chrTemp[0] != 0x55){usRxLength--;memcpy(&chrTemp[0],&chrTemp[1],usRxLength);continue;}switch (chrTemp[1]){case

0x50: printf("stcTime\r\n");memcpy(&stcTime,&chrTemp[2],8);break;case 0x51:memcpy(&stcAcc,8);break;case 0x52:memcpy(&stcGyro,8);break;case 0x53:memcpy(&stcAngle,8);break;case 0x54:memcpy(&stcMag,8);break;case

0x55:memcpy(&stcDStatus,8);break;case 0x56:memcpy(&stcPress,8);break;case 0x57:memcpy(&stcLonLat,8);break;case 0x58:memcpy(&stcGPSV,8);break;case 0x59:memcpy(&stcFour,8);break;}usRxLength

-= 11;memcpy(&chrTemp[0],&chrTemp[11],usRxLength);}printf("Time:20%d-%d-%d %d:%d:%.3f\r\n",(short)stcTime.ucYear,(short)stcTime.ucMonth,(short)stcTime.ucDay,(short)stcTime.ucHour,(short)stcTime.ucMinute,(float)stcTime.ucSecond + (float)stcTime.usMiliSecond

/ 1000);printf("stcFour:%.4f %.4f %.4f %.4f\r\n",(float)stcFour.four[0] / 32768,(float)stcFour.four[1] / 32768,(float)stcFour.four[2] / 32768,(float)stcFour.four[3] / 32768);printf("Acc:%.4f %.4f %.4f\r\n",(float)stcAcc.a[0] / 32768 * 16,(float)stcAcc.a[1]

/ 32768 * 16,(float)stcAcc.a[2] / 32768 * 16); fprintf(fpWrite,"Time:20%d-%d-%d %d:%d:%.3f ",(float)stcTime.ucSecond + (float)stcTime.usMiliSecond

/ 1000); fprintf(fpWrite,"Angle:%.3f %.3f %.3f",(float)stcAngle.Angle[0] / 32768 * 180,(float)stcAngle.Angle[1] / 32768 * 180,(float)stcAngle.Angle[2] / 32768 * 180); fprintf(fpWrite," Acc_offset: %.4f %.4f %.4f\r\n",ax,ay,(float) stcAcc.a[2] / 32768

* 16*G); }fclose(fpWrite);return 0;}// g++ -o read read.cpp `pkg-config opencv --cflags --libs`

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