Question

我有一个IMU传感器，我正试图通过USB端口读取其数据。我正在使用ubuntu 11.10和eclipse IDE。使用的语言是C.为此我必须向IMU发送特定的命令代码并读取结果。我已经完成了这个，但我的问题是，当我想在无限循环中读取IMU中的数据（根据需要多次读取数据）时，写入功能（我用来向IMU发送命令）冻结。那就是程序执行在写入功能中停止。

以下是代码：

int comport = -1; // Handle COM port
struct termios options;

comport = open("/dev/ttyACM0", O_RDWR | O_NOCTTY | O_NDELAY);

fcntl(comport, F_SETFL, 0);

//Get the current options for the port...
tcgetattr(comport, &options);

cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);

options.c_cflag |= CS8;
options.c_oflag &= ~OPOST; //raw output

//Enable the receiver and set local mode...
options.c_cflag |= (CLOCAL | CREAD);

//Set the new options for the port...
tcsetattr(comport, TCSANOW, &options);

//read compass 0x23
char command[] = {0xF7, 0x23, 0x23};

while(1)
{
bytes_written = write(comport, command, 3);

if(bytes_written == -1)
{
        printf("\nsending command to IMU failed!");
        //...
}
else if(bytes_written == 3)
{
  //sending command OK

  bytes_read = read(comport,  // Handle
                    INBUFFER, // Incoming data
                12        // Number of bytes to read
                );
}
} //end while(1)

通过USB端口冻结写入IMU

0 个答案: