bmg160: C port, FTI, C++ wraps C

Signed-off-by: Jon Trulson <jtrulson@ics.com>

examples/c/CMakeLists.txt

@@ -153,6 +153,7 @@ add_example (bno055)
 add_example (bmp280)
 add_example (abpdrrt005pg2a5)
 add_example (lcdks)
+add_example (bmg160)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)

examples/c/bmg160.c

@@ -0,0 +1,99 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2017 Intel Corporation.
+ *
+ * The MIT License
+ *
+ * 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 <stdio.h>
+#include <signal.h>
+
+#include "upm_utilities.h"
+#include "bmg160.h"
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+    if (signo == SIGINT)
+        shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+    signal(SIGINT, sig_handler);
+//! [Interesting]
+
+#if defined(CONFIG_BOARD_ARDUINO_101_SSS)
+    // ARDUINO_101_SSS (ARC core) must use I2C
+    // Instantiate a BMG160 instance using default i2c bus and address
+    bmg160_context sensor = bmg160_init(BMG160_DEFAULT_I2C_BUS,
+                                        BMG160_DEFAULT_ADDR, -1);
+#elif defined(CONFIG_BOARD_ARDUINO_101)
+    // ARDUINO_101 (Quark core) where you must use SPI
+    // Instantiate a BMG160 instance using default SPI bus and pin 10 as CS
+    bmg160_context sensor = bmg160_init(BMG160_DEFAULT_SPI_BUS,
+                                        -1, 10);
+#else
+    // everything else use I2C by default
+    // Instantiate a BMG160 instance using default i2c bus and address
+    bmg160_context sensor = bmg160_init(BMG160_DEFAULT_I2C_BUS,
+                                        BMG160_DEFAULT_ADDR, -1);
+#endif
+
+    if (!sensor)
+    {
+        printf("bmg160_init() failed.\n");
+        return 1;
+    }
+
+    // now output data every 250 milliseconds
+    while (shouldRun)
+    {
+        float x, y, z;
+
+        if (bmg160_update(sensor))
+        {
+            printf("bmg160_update() failed\n");
+            return 1;
+        }
+
+        bmg160_get_gyroscope(sensor, &x, &y, &z);
+        printf("Gyroscope x: %f y: %f z: %f degrees/s\n",
+               x, y, z);
+
+        printf("Compensation Temperature: %f C\n\n",
+               bmg160_get_temperature(sensor));
+
+        upm_delay_ms(250);
+    }
+
+    printf("Exiting...\n");
+
+    bmg160_close(sensor);
+
+//! [Interesting]
+
+    return 0;
+}