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bmg160.cxx
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bmg160.cxx
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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2016 Intel Corporation.
*
* This program and the accompanying materials are made available under the
* terms of the The MIT License which is available at
* https://opensource.org/licenses/MIT.
*
* SPDX-License-Identifier: MIT
*/
#include <iostream>
#include <signal.h>
#include "bmg160.hpp"
#include "upm_utilities.h"
using namespace std;
int shouldRun = true;
void
sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int
main(int argc, char** argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an BMG160 using default I2C parameters
upm::BMG160 sensor;
// For SPI, bus 0, you would pass -1 as the address, and a valid pin
// for CS: BMG160(0, -1, 10);
// now output data every 250 milliseconds
while (shouldRun) {
float x, y, z;
sensor.update();
sensor.getGyroscope(&x, &y, &z);
cout << "Gyroscope x: " << x << " y: " << y << " z: " << z << " degrees/s" << endl;
// we show both C and F for temperature
cout << "Compensation Temperature: " << sensor.getTemperature() << " C / "
<< sensor.getTemperature(true) << " F" << endl;
cout << endl;
upm_delay_us(250000);
}
//! [Interesting]
cout << "Exiting..." << endl;
return 0;
}