| /**************************************************************************** |
| * apps/examples/bmi160/sixaxis_main.c |
| * |
| * Licensed to the Apache Software Foundation (ASF) under one or more |
| * contributor license agreements. See the NOTICE file distributed with |
| * this work for additional information regarding copyright ownership. The |
| * ASF licenses this file to you under the Apache License, Version 2.0 (the |
| * "License"); you may not use this file except in compliance with the |
| * License. You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT |
| * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the |
| * License for the specific language governing permissions and limitations |
| * under the License. |
| * |
| ****************************************************************************/ |
| |
| /**************************************************************************** |
| * Included Files |
| ****************************************************************************/ |
| |
| #include <nuttx/config.h> |
| #include <inttypes.h> |
| #include <fcntl.h> |
| #include <stdio.h> |
| |
| #include <nuttx/sensors/bmi160.h> |
| |
| /**************************************************************************** |
| * Pre-processor Definitions |
| ****************************************************************************/ |
| |
| #define ACC_DEVPATH "/dev/accel0" |
| |
| /**************************************************************************** |
| * Public Functions |
| ****************************************************************************/ |
| |
| /**************************************************************************** |
| * sixaxis_main |
| ****************************************************************************/ |
| |
| int main(int argc, FAR char *argv[]) |
| { |
| int fd; |
| struct accel_gyro_st_s data; |
| uint32_t prev; |
| |
| fd = open(ACC_DEVPATH, O_RDONLY); |
| if (fd < 0) |
| { |
| printf("Device %s open failure. %d\n", ACC_DEVPATH, fd); |
| return -1; |
| } |
| |
| prev = 0; |
| for (; ; ) |
| { |
| int ret; |
| |
| ret = read(fd, &data, sizeof(struct accel_gyro_st_s)); |
| if (ret != sizeof(struct accel_gyro_st_s)) |
| { |
| fprintf(stderr, "Read failed.\n"); |
| break; |
| } |
| |
| /* If sensing time has been changed, show 6 axis data. */ |
| |
| if (prev != data.sensor_time) |
| { |
| printf("[%" PRIu32 "] %d, %d, %d / %d, %d, %d\n", |
| data.sensor_time, |
| data.gyro.x, data.gyro.y, data.gyro.z, |
| data.accel.x, data.accel.y, data.accel.z); |
| fflush(stdout); |
| prev = data.sensor_time; |
| } |
| } |
| |
| close(fd); |
| |
| return 0; |
| } |