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/*
* Author: Brendan Le Foll <brendan.le.foll@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
//! [Interesting]
#include "lsm303.h"
int
main(int argc, char **argv)
{
// Instantiate LSM303 compass on I2C
upm::LSM303 *sensor = new upm::LSM303(0);
// Get the coordinate data
sensor->getCoordinates();
int16_t* coor = sensor->getRawCoorData(); // in XYZ order.
// The sensor returns XZY, but the driver compensates and makes it XYZ
// Print out the X, Y, and Z coordinate data using two different methods
std::cout << "coor: rX " << (int)coor[0]
<< " - rY " << (int)coor[1]
<< " - rZ " << (int)coor[2]
<< std::endl;
std::cout << "coor: gX " << sensor->getCoorX()
<< " - gY " << sensor->getCoorY()
<< " - gZ " << sensor->getCoorZ()
<< std::endl;
// Get and print out the heading
std::cout << "heading: "
<< sensor->getHeading()
<< std::endl;
// Get the acceleration
sensor->getAcceleration();
int16_t* accel = sensor->getRawAccelData();
// Print out the X, Y, and Z acceleration data using two different methods
std::cout << "acc: rX " << (int)accel[0]
<< " - rY " << (int)accel[1]
<< " - Z " << (int)accel[2]
<< std::endl;
std::cout << "acc: gX " << sensor->getAccelX()
<< " - gY " << sensor->getAccelY()
<< " - gZ " << sensor->getAccelZ()
<< std::endl;
return 0;
}
//! [Interesting]
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