/* * Author: Lay, Kuan Loon * 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 #include #include #include "l3gd20.hpp" #include "upm_utilities.h" using namespace std; int shouldRun = true; void sig_handler(int signo) { if (signo == SIGINT) shouldRun = false; } void data_callback(char* data, void* args) { float x, y, z; upm::L3GD20* gyroscope = static_cast(args); 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] upm::L3GD20 gyroscope(3); // Instantiate a L3GD20 Gyroscope Sensor on iio device 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, &gyroscope); gyroscope.enableBuffer(16); while (shouldRun) { upm_delay(1); } gyroscope.disableBuffer(); //! [Interesting] cout << "Exiting" << endl; return 0; }