1 files changed, 79 insertions, 0 deletions
diff --git a/peripheral/libupm/examples/c++/l3gd20.cxx b/peripheral/libupm/examples/c++/l3gd20.cxx
new file mode 100644
index 0000000..2795686
--- /dev/null
+++ b/peripheral/libupm/examples/c++/l3gd20.cxx
@@ -0,0 +1,79 @@
+/*
+ * Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
+ * 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 <iostream>
+#include <iomanip>
+#include <unistd.h>
+#include <signal.h>
+#include "l3gd20.hpp"
+
+using namespace std;
+
+int shouldRun = true;
+upm::L3GD20* gyroscope;
+
+void
+sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+void
+data_callback(char* data)
+{
+    float x, y, z;
+    if (gyroscope->extract3Axis(data, &x, &y, &z)) {
+        cout << fixed << setprecision(1);
+        cout << x << '\t' << y << '\t' << z << "[rad/sec]" << endl;
+    }
+}
+
+int
+main()
+{
+    signal(SIGINT, sig_handler);
+    //! [Interesting]
+    // Instantiate a L3GD20 Gyroscope Sensor on iio device 3
+    gyroscope = new upm::L3GD20(3);
+    // Available scales are 0.000153(250dps), 0.000305(500dps), and 0.001222(2000dps)
+    gyroscope->setScale(0.001222);
+    // Available sampling frequency are 95, 190, 380, and 760
+    gyroscope->setSamplingFrequency(95.0);
+    gyroscope->enable3AxisChannel();
+    gyroscope->installISR(data_callback, NULL);
+    gyroscope->enableBuffer(16);
+
+    while (shouldRun) {
+        sleep(1);
+    }
+    gyroscope->disableBuffer();
+
+    //! [Interesting]
+    cout << "Exiting" << endl;
+
+    delete gyroscope;
+
+    return 0;
+}