103 lines
3.5 KiB
C
103 lines
3.5 KiB
C
/****************************************************************************
|
|
* apps/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 <inttypes.h>
|
|
#include <fcntl.h>
|
|
#include <stdio.h>
|
|
|
|
#include <nuttx/sensors/bmi160.h>
|
|
|
|
/****************************************************************************
|
|
* Pre-processor Definitions
|
|
****************************************************************************/
|
|
|
|
#define ACC_DEVPATH "/dev/accel0"
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* sixaxis_main
|
|
****************************************************************************/
|
|
|
|
int main(int argc, FAR char *argv[])
|
|
{
|
|
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("[%" PRIu32 "] %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;
|
|
}
|