1 /*
2  * Author: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
3  * Copyright (c) 2014 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 "itg3200.h"
27 
28 int
main(int argc,char ** argv)29 main(int argc, char **argv)
30 {
31 //! [Interesting]
32     int16_t *rot;
33     float *ang;
34 
35     // Note: Sensor not supported on Intel Edison with Arduino breakout
36     upm::Itg3200* gyro = new upm::Itg3200(0);
37 
38     while(true){
39         gyro->update(); // Update the data
40         rot = gyro->getRawValues(); // Read raw sensor data
41         ang = gyro->getRotation(); // Read rotational speed (deg/sec)
42         fprintf(stdout, "Raw: %6d %6d %6d\n", rot[0], rot[1], rot[2]);
43         fprintf(stdout, "AngX: %5.2f\n", ang[0]);
44         fprintf(stdout, "AngY: %5.2f\n", ang[1]);
45         fprintf(stdout, "AngZ: %5.2f\n", ang[2]);
46         fprintf(stdout, "Temp: %5.2f Raw: %6d\n", gyro->getTemperature(), gyro->getRawTemp());
47         sleep(1);
48     }
49 //! [Interesting]
50     return 0;
51 }
52