/****************************************************************************
 * examples/bmi160/sixaxis_main.c
 *
 *   Copyright 2018 Sony Semiconductor Solutions Corporation
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name of Sony Semiconductor Solutions Corporation nor
 *    the names of its contributors may be used to endorse or promote
 *    products derived from this software without specific prior written
 *    permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>
#include <fcntl.h>
#include <stdio.h>

#include <nuttx/sensors/bmi160.h>

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

#define ACC_DEVPATH      "/dev/accel0"

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * sixaxis_main
 ****************************************************************************/

#ifdef CONFIG_BUILD_KERNEL
int main(int argc, FAR char *argv[])
#else
int sixaxis_main(int argc, char *argv[])
#endif
{
  int fd;
  struct accel_gyro_st_s data;
  uint32_t prev;

  fd = open(ACC_DEVPATH, O_RDONLY);
  if (fd < 0)
    {
      printf("Device %s open failure. %d\n", ACC_DEVPATH, fd);
      return -1;
    }

  prev = 0;
  for (; ; )
    {
      int ret;

      ret = read(fd, &data, sizeof(struct accel_gyro_st_s));
      if (ret != sizeof(struct accel_gyro_st_s))
        {
          fprintf(stderr, "Read failed.\n");
          break;
        }

      /* If sensing time has been changed, show 6 axis data. */

      if (prev != data.sensor_time)
        {
          printf("[%d] %d, %d, %d / %d, %d, %d\n",
                 data.sensor_time,
                 data.gyro.x, data.gyro.y, data.gyro.z,
                 data.accel.x, data.accel.y, data.accel.z);
          fflush(stdout);
          prev = data.sensor_time;
        }
    }

  close(fd);

  return 0;
}