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
28int
29main(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