1 /*
2 * Author: Jon Trulson <jtrulson@ics.com>
3 * Copyright (c) 2015 Intel Corporation.
4 *
5 * Permission is hereby granted, free of charge, to any person obtaining
6 * a copy of this software and associated documentation files (the
7 * "Software"), to deal in the Software without restriction, including
8 * without limitation the rights to use, copy, modify, merge, publish,
9 * distribute, sublicense, and/or sell copies of the Software, and to
10 * permit persons to whom the Software is furnished to do so, subject to
11 * the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 */
24
25 #include <unistd.h>
26 #include <iostream>
27 #include <signal.h>
28 #include "mpu9150.h"
29
30 using namespace std;
31
32 int shouldRun = true;
33
sig_handler(int signo)34 void sig_handler(int signo)
35 {
36 if (signo == SIGINT)
37 shouldRun = false;
38 }
39
40
main(int argc,char ** argv)41 int main(int argc, char **argv)
42 {
43 signal(SIGINT, sig_handler);
44 //! [Interesting]
45
46 upm::MPU9150 *sensor = new upm::MPU9150();
47
48 sensor->init();
49
50 while (shouldRun)
51 {
52 sensor->update();
53
54 float x, y, z;
55
56 sensor->getAccelerometer(&x, &y, &z);
57 cout << "Accelerometer: ";
58 cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
59
60 sensor->getGyroscope(&x, &y, &z);
61 cout << "Gryoscope: ";
62 cout << "GX: " << x << " GY: " << y << " GZ: " << z << endl;
63
64 sensor->getMagnetometer(&x, &y, &z);
65 cout << "Magnetometer: ";
66 cout << "MX = " << x << " MY = " << y << " MZ = " << z << endl;
67
68 cout << "Temperature: " << sensor->getTemperature() << endl;
69 cout << endl;
70
71 usleep(500000);
72 }
73
74 //! [Interesting]
75
76 cout << "Exiting..." << endl;
77
78 delete sensor;
79
80 return 0;
81 }
82