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      1 /*
      2  * Author: Jon Trulson <jtrulson (at) ics.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 #include <unistd.h>
     26 #include <iostream>
     27 #include <signal.h>
     28 #include "mpu9250.h"
     29 
     30 using namespace std;
     31 
     32 int shouldRun = true;
     33 
     34 void sig_handler(int signo)
     35 {
     36   if (signo == SIGINT)
     37     shouldRun = false;
     38 }
     39 
     40 
     41 int main(int argc, char **argv)
     42 {
     43   signal(SIGINT, sig_handler);
     44 //! [Interesting]
     45 
     46   upm::MPU9250 *sensor = new upm::MPU9250();
     47 
     48   sensor->init();
     49 
     50   while (shouldRun)
     51     {
     52       sensor->update();
     53 
     54       float x, y, z;
     55 
     56       sensor->getAccelerometer(&x, &y, &z);
     57       cout << "Accelerometer: ";
     58       cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
     59 
     60       sensor->getGyroscope(&x, &y, &z);
     61       cout << "Gryoscope:     ";
     62       cout << "GX: " << x << " GY: " << y << " GZ: " << z << endl;
     63 
     64       sensor->getMagnetometer(&x, &y, &z);
     65       cout << "Magnetometer:  ";
     66       cout << "MX = " << x << " MY = " << y << " MZ = " << z << endl;
     67 
     68       cout << "Temperature:   " << sensor->getTemperature() << endl;
     69       cout << endl;
     70 
     71       usleep(500000);
     72     }
     73 
     74 //! [Interesting]
     75 
     76   cout << "Exiting..." << endl;
     77 
     78   delete sensor;
     79 
     80   return 0;
     81 }
     82