void loop()
{
char source;
if (digitalRead(int1Pin)==1) // Interrupt pin, should probably attach to interrupt function
{
int accelCount[3]; // Stores the 12-bit signed value
readAccelData(accelCount); // Read the x/y/z adc values
// Now we'll calculate the accleration value into actual g's
float accelG[3]; // Stores the real accel value in g's
int i;
for(i=0;i<3;i++)
{
accelG[i] = (float) accelCount[i] / ((1<<12)/(2*GSCALE)); // get actual g value, this depends on scale being set
}
// Print out values
int j;
for(j=0;j<3;j++)
{
//printf(accelG[j], 4); // Print g values
printf("%G",accelG[j]);
printf("\t"); // tabs in between axes
}
printf("\n");
}
// If int2 goes high, either p/l has changed or there's been a single/double tap
if (digitalRead(int2Pin)==1)
{
source = readRegister(0x0C); // Read the interrupt source reg.
if ((source & 0x10)==0x10) // If the p/l bit is set, go check those registers
portraitLandscapeHandler();
else if ((source & 0x08)==0x08) // Otherwise, if tap register is set go check that
tapHandler();
}
//Attempt a delay
sleep(1);
}
int main(int argc, char **argv)
{
char data[4];
int i, res= 0;
res = inv_init_sysfs_attributes();
if (res) {
printf("GT:ERR-Can't allocate mem");
return -1;
}
/* On Gesture/DMP supported features */
enableDMPFeatures(1);
/* init Fds to poll for Gesture data */
initFds();
/* prompt user to make gesture and how to stop program */
printf("\n**Please make Gesture to see data. Press any key to stop Prog**\n\n");
do {
for (i=0; i< numDMPFeatures; i++) {
read(pfd[i].fd, data, 4);
}
poll(pfd, numDMPFeatures, POLL_TIME);
for (i=0; i< numDMPFeatures; i++) {
if(pfd[i].revents != 0) {
switch(i) {
case tap:
tapHandler();
break;
case flick:
flickHandler();
break;
case gOrient:
googleOrientHandler();
break;
case orient:
orientHandler();
break;
default:
printf("GT:ERR-Not supported");
break;
}
pfd[i].revents= 0; //no need. reset anyway
}
}
} while (!_kbhit());
/* Off DMP features */
enableDMPFeatures(0);
/* release resources */
closeFds();
if (sysfs_names_ptr) {
free(sysfs_names_ptr);
}
printf("\nThank You!\n");
return res;
}
