102 lines
3.5 KiB
C
102 lines
3.5 KiB
C
/****************************************************************************
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* examples/bmi160/sixaxis_main.c
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*
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* Copyright 2018 Sony Semiconductor Solutions Corporation
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name of Sony Semiconductor Solutions Corporation nor
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* the names of its contributors may be used to endorse or promote
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* products derived from this software without specific prior written
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* permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <nuttx/sensors/bmi160.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define ACC_DEVPATH "/dev/accel0"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* sixaxis_main
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****************************************************************************/
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int main(int argc, FAR char *argv[])
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{
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int fd;
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struct accel_gyro_st_s data;
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uint32_t prev;
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fd = open(ACC_DEVPATH, O_RDONLY);
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if (fd < 0)
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{
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printf("Device %s open failure. %d\n", ACC_DEVPATH, fd);
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return -1;
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}
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prev = 0;
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for (; ; )
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{
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int ret;
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ret = read(fd, &data, sizeof(struct accel_gyro_st_s));
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if (ret != sizeof(struct accel_gyro_st_s))
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{
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fprintf(stderr, "Read failed.\n");
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break;
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}
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/* If sensing time has been changed, show 6 axis data. */
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if (prev != data.sensor_time)
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{
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printf("[%d] %d, %d, %d / %d, %d, %d\n",
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data.sensor_time,
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data.gyro.x, data.gyro.y, data.gyro.z,
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data.accel.x, data.accel.y, data.accel.z);
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fflush(stdout);
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prev = data.sensor_time;
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}
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}
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close(fd);
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return 0;
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}
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