d681eb16ee
Gregory Nutt has submitted the SGA Sony has submitted the SGA as a result we can migrate the licenses to Apache. Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
88 lines
2.7 KiB
C
88 lines
2.7 KiB
C
/****************************************************************************
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* apps/examples/bmi160/sixaxis_main.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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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 <inttypes.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("[%" PRIu32 "] %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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