1765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang/* 2765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * Author: Jon Trulson <jtrulson@ics.com> 3765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * Copyright (c) 2015 Intel Corporation. 4765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * 5765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * Permission is hereby granted, free of charge, to any person obtaining 6765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * a copy of this software and associated documentation files (the 7765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * "Software"), to deal in the Software without restriction, including 8765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * without limitation the rights to use, copy, modify, merge, publish, 9765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * distribute, sublicense, and/or sell copies of the Software, and to 10765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * permit persons to whom the Software is furnished to do so, subject to 11765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * the following conditions: 12765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * 13765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * The above copyright notice and this permission notice shall be 14765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * included in all copies or substantial portions of the Software. 15765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * 16765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang */ 24765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 25765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang#include <unistd.h> 26765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang#include <iostream> 27765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang#include <signal.h> 28765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang#include "mpu9150.h" 29765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 30765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangusing namespace std; 31765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 32765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangint shouldRun = true; 33765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 34765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangvoid sig_handler(int signo) 35765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang{ 36765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang if (signo == SIGINT) 37765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang shouldRun = false; 38765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang} 39765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 40765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 41765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangint main(int argc, char **argv) 42765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang{ 43765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang signal(SIGINT, sig_handler); 44765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang//! [Interesting] 45765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 46765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang upm::AK8975 *sensor = new upm::AK8975(); 47765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 48765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor->init(); 49765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 50765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang while (shouldRun) 51765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang { 52765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor->update(); 53765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 54765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang float x, y, z; 55765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 56765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor->getMagnetometer(&x, &y, &z); 57765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang cout << "Magnetometer: "; 58765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang cout << "MX = " << x << " MY = " << y << " MZ = " << z << endl; 59765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 60765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang cout << endl; 61765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 62765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang usleep(500000); 63765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang } 64765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 65765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang//! [Interesting] 66765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 67765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang cout << "Exiting..." << endl; 68765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 69765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang delete sensor; 70765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 71765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang return 0; 72765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang} 73