How to read the Freerunner's accelerometers

Fri, 05 Jun 2009 22:57:39 -0000
debian, eng, openmoko, pdo, sw, tips

This code has been take from moko_eightball by Jakob Westhoff: it just continuously prints the value of the three accelerometers.

#include <stdio.h>
#include <stdint.h>

void processInputEvents(FILE* in)
{
    int x = 0, y = 0, z = 0;
    while (1)
    {
        char padding[16];
        uint16_t type, code;
        int32_t value;

        // Skip the timestamp
        fread(padding, 1, 8, in);

        // Read the type
        fread(&type, 1, 2, in);

        // Read the code
        fread(&code, 1, 2, in);

        // Read the value
        fread(&value, 1, 4, in);

        switch( type )
        {
            case 0:
                switch( code )
                {
                    case 0:
                        fprintf(stdout, "x%d y%d z%d\n", x, y, z);
                        break;
                    default:
                        //warning( "Unknown code ( 0x%02x ) for type 0x%02x\n", code, type );
                        break;
                }
                break;
            case 2:
                switch ( code )
                {
                    case 0:
                        // Update to the new value
                        x = value;
                        break;
                    case 1:
                        // Update to the new value
                        y = value;
                        break;
                    case 2:
                        // Update to the new value
                        z = value;
                        break;
                    default:
                        //warning( "Unknown code ( 0x%02x ) for type 0x%02x\n", code, type );
                        break;
                }
                break;

            default:
                //warning( "Unknown type ( 0x%02x ) in accelerometer input stream\n", type );
                break;
        }


    }
}


int main()
{
    FILE* in = fopen("/dev/input/event2", "r");
    processInputEvents(in);
    fclose(in);
    return 0;
}