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68 lines
1.5 KiB
C++
68 lines
1.5 KiB
C++
/*
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* Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* This program and the accompanying materials are made available under the
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* terms of the The MIT License which is available at
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* https://opensource.org/licenses/MIT.
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*
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* SPDX-License-Identifier: MIT
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*/
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#include <iomanip>
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#include <iostream>
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#include <signal.h>
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#include "l3gd20.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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void
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data_callback(char* data, void* args)
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{
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float x, y, z;
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upm::L3GD20* gyroscope = static_cast<upm::L3GD20*>(args);
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if (gyroscope->extract3Axis(data, &x, &y, &z)) {
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cout << fixed << setprecision(1);
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cout << x << '\t' << y << '\t' << z << "[rad/sec]" << endl;
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}
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}
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int
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main()
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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upm::L3GD20 gyroscope(3);
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// Instantiate a L3GD20 Gyroscope Sensor on iio device 3
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// Available scales are 0.000153(250dps), 0.000305(500dps), and
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// 0.001222(2000dps)
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gyroscope.setScale(0.001222);
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// Available sampling frequency are 95, 190, 380, and 760
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gyroscope.setSamplingFrequency(95.0);
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gyroscope.enable3AxisChannel();
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gyroscope.installISR(data_callback, &gyroscope);
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gyroscope.enableBuffer(16);
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while (shouldRun) {
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upm_delay(1);
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}
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gyroscope.disableBuffer();
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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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