/* * Author: Jon Trulson * 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 "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; }