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/*
* Author: Jon Trulson <jtrulson@ics.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 <unistd.h>
#include <iostream>
#include <signal.h>
#include "bmi160.hpp"
using namespace std;
int shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate a BMI160 instance using default i2c bus and address
upm::BMI160 *sensor = new upm::BMI160();
while (shouldRun)
{
// update our values from the sensor
sensor->update();
float dataX, dataY, dataZ;
sensor->getAccelerometer(&dataX, &dataY, &dataZ);
cout << "Accelerometer: ";
cout << "AX: " << dataX << " AY: " << dataY << " AZ: "
<< dataZ << endl;
sensor->getGyroscope(&dataX, &dataY, &dataZ);
cout << "Gryoscope: ";
cout << "GX: " << dataX << " GY: " << dataY << " GZ: "
<< dataZ << endl;
sensor->getMagnetometer(&dataX, &dataY, &dataZ);
cout << "Magnetometer: ";
cout << "MX: " << dataX << " MY: " << dataY << " MZ: "
<< dataZ << endl;
cout << endl;
usleep(500000);
}
//! [Interesting]
cout << "Exiting..." << endl;
delete sensor;
return 0;
}
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