1 /* 2 * Author: Stefan Andritoiu <stefan.andritoiu@intel.com> 3 * Copyright (c) 2015 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 //NOT TESTED!!! 26 public class LSM303Sample { 27 28 static { 29 try { 30 System.loadLibrary("javaupm_lsm303"); 31 } catch (UnsatisfiedLinkError e) { 32 System.err.println("error in loading native library"); 33 System.exit(-1); 34 } 35 } 36 main(String[] args)37 public static void main(String[] args) throws InterruptedException { 38 // ! [Interesting] 39 // Instantiate LSM303 compass on I2C 40 upm_lsm303.LSM303 sensor = new upm_lsm303.LSM303(0); 41 42 // Get the coordinate data 43 sensor.getCoordinates(); 44 int[] coor = sensor.getRawCoorData(); // in XYZ order.· 45 // The sensor returns XZY, but the driver compensates and makes it XYZ 46 47 // Print out the X, Y, and Z coordinate data using two different methods 48 System.out.println("coor: rX " + coor[0] + " - rY " + coor[1] + " - rZ " + coor[2]); 49 System.out.println("coor: gX " + sensor.getCoorX() + " - gY " + sensor.getCoorY() 50 + " - gZ " + sensor.getCoorZ()); 51 52 // Get and print out the heading 53 System.out.println("heading: " + sensor.getHeading()); 54 55 // Get the acceleration 56 sensor.getAcceleration(); 57 int[] accel = sensor.getRawAccelData(); 58 59 // Print out the X, Y, and Z acceleration data using two different 60 // methods 61 System.out.println("acc: rX " + accel[0] + " - rY " + accel[1] + " - rZ " + accel[2]); 62 System.out.println("acc: gX " + sensor.getAccelX() + " - gY " + sensor.getAccelY() 63 + " - gZ " + sensor.getAccelZ()); 64 65 // ! [Interesting] 66 } 67 68 }