upm/examples/c/bmi160.c

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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 <signal.h>
#include "bmi160.h"
#include "upm_utilities.h"
bool shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main()
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate a BMI160 sensor on I2C bus 0, address 0x69, and
// disable the magnetometer (since it is an optional component
// that may not be present). Since we are using I2C, pass a valid
// I2C address, and supply -1 as the cs_pin.
bmi160_context sensor = bmi160_init(0, 0x69, -1, false);
// For SPI, you would use something like this, using gpio 10 as
// the cs pin. Passing -1 as the address indicates SPI operation.
//
// bmi160_context sensor = bmi160_init(0, -1, 10, false);
if (!sensor)
{
printf("bmi160_init() failed.\n");
return(1);
}
// Every half second, update and print values
while (shouldRun)
{
bmi160_update(sensor);
float x, y, z;
bmi160_get_accelerometer(sensor, &x, &y, &z);
printf("Acceleration x = %f y = %f z = %f\n",
x, y, z);
bmi160_get_gyroscope(sensor, &x, &y, &z);
printf("Gyroscope x = %f y = %f z = %f\n",
x, y, z);
//bmi160_get_magnetometer(sensor, &x, &y, &z);
//printf("Magnetometer x = %f y = %f z = %f\n",
// x, y, z);
printf("\n");
upm_delay_ms(500);
}
//! [Interesting]
printf("Exiting...\n");
bmi160_close(sensor);
return 0;
}