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This adds SPI support to the BMI160, as well as a C driver and a C example. In addition, some changes were made to more properly detect and handle errors. Functions supplied by the bosch_bmi160 driver source code is also exported and made available to callers who want more than what the basic driver support. Bus access methods (I2C and SPI) are also now exposed to both C and C++. Signed-off-by: Jon Trulson <jtrulson@ics.com>
95 lines
2.7 KiB
C
95 lines
2.7 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 <unistd.h>
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#include <signal.h>
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#include "bmi160.h"
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#include "upm_utilities.h"
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bool shouldRun = true;
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void 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 main()
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate a BMI160 sensor on I2C bus 0, address 0x69, and
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// disable the magnetometer (since it is an optional component
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// that may not be present). Since we are using I2C, pass a valid
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// I2C address, and supply -1 as the cs_pin.
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bmi160_context sensor = bmi160_init(0, 0x69, -1, false);
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// For SPI, you would use something like this, using gpio 10 as
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// the cs pin. Passing -1 as the address indicates SPI operation.
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//
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// bmi160_context sensor = bmi160_init(0, -1, 10, false);
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if (!sensor)
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{
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printf("bmi160_init() failed.\n");
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return(1);
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}
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// Every half second, update and print values
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while (shouldRun)
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{
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bmi160_update(sensor);
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float x, y, z;
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bmi160_get_accelerometer(sensor, &x, &y, &z);
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printf("Acceleration x = %f y = %f z = %f\n",
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x, y, z);
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bmi160_get_gyroscope(sensor, &x, &y, &z);
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printf("Gyroscope x = %f y = %f z = %f\n",
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x, y, z);
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//bmi160_get_magnetometer(sensor, &x, &y, &z);
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//printf("Magnetometer x = %f y = %f z = %f\n",
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// x, y, z);
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printf("\n");
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upm_delay_ms(500);
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}
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//! [Interesting]
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printf("Exiting...\n");
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bmi160_close(sensor);
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return 0;
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}
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