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5cefe7f5f3
Cleanup of UPM C++ examples. Switched from heap allocation to
stack allocation when possible. This simplifies the samples since it
removes the need for explicit memory management. A script was used to
identify and replace pointer use. To simplify the replace script, I
re-formatted the C++ examples using the UPM .clang-format file.
Unfortuantely this changes the look of the UPM C++ examples to a large
degree. However, examples will now have a standard look/feel and
uniform formatting.
* Ran clang-format w/provided UPM .clang-format file
* Removed new's/delete's whenever possible (left those in interface
examples)
* Added IIO sensor library implementation of callback void* arg
* Converted all sleeps to upm defined delays (added header when
necessary)
* Scrubbed CXX example includes
Signed-off-by: Noel Eck <noel.eck@intel.com>
104 lines
3.3 KiB
C++
104 lines
3.3 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <iostream>
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#include <signal.h>
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#include "bno055.hpp"
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#include "upm_utilities.h"
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using namespace std;
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int shouldRun = true;
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void
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sig_handler(int signo)
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{
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if (signo == SIGINT)
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shouldRun = false;
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}
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int
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main(int argc, char** argv)
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate an BNO055 using default parameters (bus 0, addr
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// 0x28). The default running mode is NDOF absolute orientation
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// mode.
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upm::BNO055 sensor;
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// First we need to calibrate....
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cout << "First we need to calibrate. 4 numbers will be output every" << endl;
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cout << "second for each sensor. 0 means uncalibrated, and 3 means" << endl;
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cout << "fully calibrated." << endl;
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cout << "See the UPM documentation on this sensor for instructions on" << endl;
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cout << "what actions are required to calibrate." << endl;
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cout << endl;
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// do the calibration...
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while (shouldRun && !sensor.isFullyCalibrated()) {
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int mag, acc, gyr, sys;
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sensor.getCalibrationStatus(&mag, &acc, &gyr, &sys);
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cout << "Magnetometer: " << mag << " Accelerometer: " << acc << " Gyroscope: " << gyr
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<< " System: " << sys << endl;
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upm_delay(1);
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}
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cout << endl;
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cout << "Calibration complete." << endl;
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cout << endl;
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// now output various fusion data every 250 milliseconds
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while (shouldRun) {
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float w, x, y, z;
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sensor.update();
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sensor.getEulerAngles(&x, &y, &z);
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cout << "Euler: Heading: " << x << " Roll: " << y << " Pitch: " << z << " degrees" << endl;
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sensor.getQuaternions(&w, &x, &y, &z);
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cout << "Quaternion: W: " << w << " X: " << x << " Y: " << y << " Z: " << z << endl;
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sensor.getLinearAcceleration(&x, &y, &z);
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cout << "Linear Acceleration: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
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sensor.getGravityVectors(&x, &y, &z);
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cout << "Gravity Vector: X: " << x << " Y: " << y << " Z: " << z << " m/s^2" << endl;
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cout << endl;
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upm_delay_us(250000);
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}
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//! [Interesting]
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cout << "Exiting..." << endl;
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return 0;
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}
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