1 /* 2 * Author: Mihai Tudor Panu <mihai.tudor.panu (at) 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 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
