/* * Author: Jon Trulson * 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 #include #include #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; }