mirror of
https://github.com/apache/nuttx-apps.git
synced 2025-07-05 03:13:47 +08:00
a91768e715
Most tools used for compliance and SBOM generation use SPDX identifiers This change brings us a step closer to an easy SBOM generation. Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
94 lines
2.9 KiB
C
94 lines
2.9 KiB
C
/****************************************************************************
|
|
* apps/examples/bmi160/sixaxis_uorb_main.c
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*
|
|
* 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 <poll.h>
|
|
#include <errno.h>
|
|
#include <sensor/accel.h>
|
|
|
|
/****************************************************************************
|
|
* Pre-processor Definitions
|
|
****************************************************************************/
|
|
|
|
#define ACC_TIMEOUT 1000
|
|
#define READ_TIMES 100
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* sixaxis_main
|
|
****************************************************************************/
|
|
|
|
int main(int argc, FAR char *argv[])
|
|
{
|
|
FAR const struct orb_metadata *meta;
|
|
struct sensor_accel accel_data;
|
|
struct pollfd fds;
|
|
int ret = OK;
|
|
int fd;
|
|
int i;
|
|
|
|
meta = ORB_ID(sensor_accel_uncal);
|
|
fd = orb_subscribe_multi(meta, 0);
|
|
if (fd < 0)
|
|
{
|
|
printf("sensor accel subscribe error! return:%d\n", fd);
|
|
return fd;
|
|
}
|
|
|
|
fds.fd = fd;
|
|
fds.events = POLLIN;
|
|
|
|
for (i = 0; i < READ_TIMES; i++)
|
|
{
|
|
if (poll(&fds, 1, ACC_TIMEOUT) > 0)
|
|
{
|
|
if (fds.revents & POLLIN)
|
|
{
|
|
ret = orb_copy(meta, fd, &accel_data);
|
|
#ifdef CONFIG_DEBUG_UORB
|
|
if (ret == OK && meta->o_format != NULL)
|
|
{
|
|
orb_info(meta->o_format, meta->o_name, &accel_data);
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
else if (errno != EINTR)
|
|
{
|
|
printf("Waited for %d milliseconds without a message. "
|
|
"Giving up. err:%d", ACC_TIMEOUT, errno);
|
|
break;
|
|
}
|
|
}
|
|
|
|
orb_unsubscribe(fd);
|
|
printf("sensor accel read examples exit.\n");
|
|
|
|
return ret;
|
|
}
|