text: /****************************************************************************
   * examples/bmi160/sixaxis_main.c
   *
   *   Copyright 2018 Sony Semiconductor Solutions Corporation
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name of Sony Semiconductor Solutions Corporation nor
   *    the names of its contributors may be used to endorse or promote
   *    products derived from this software without specific prior written
   *    permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /****************************************************************************
   * Included Files
   ****************************************************************************/
  
  #include <nuttx/config.h>
  #include <fcntl.h>
  #include <stdio.h>
  
  #include <nuttx/sensors/bmi160.h>
  
  /****************************************************************************
   * Pre-processor Definitions
   ****************************************************************************/
  
  #define ACC_DEVPATH      "/dev/accel0"
  
  /****************************************************************************
   * Public Functions
   ****************************************************************************/
  
  /****************************************************************************
   * sixaxis_main
   ****************************************************************************/
  
  #ifdef CONFIG_BUILD_KERNEL
  int main(int argc, FAR char *argv[])
  #else
  int sixaxis_main(int argc, char *argv[])
  #endif
  {
    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("[%d] %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;
  }
  