C++ (Cpp) MPU6050::stop示例

int ImuTester::run()
{
	// Default is fail unless pass critera met
	m_pass = TEST_FAIL;

	// Register the driver
	int ret = m_sensor.init();

	// Open the IMU sensor
	DevHandle h;
	DevMgr::getHandle(IMU_DEVICE_PATH, h);

	if (!h.isValid()) {
		DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
			    IMU_DEVICE_PATH, h.getError());
		m_done = true;

	} else {
		m_done = false;
	}

	while (!m_done) {
		++m_read_attempts;

		struct imu_sensor_data data;

		ret = ImuSensor::getSensorData(h, data, true);

		if (ret == 0) {
			uint32_t count = data.read_counter;
			DF_LOG_INFO("count: %d", count);

			if (m_read_counter != count) {
				m_read_counter = count;
				ImuSensor::printImuValues(h, data);
			}

		} else {
			DF_LOG_INFO("error: unable to read the IMU sensor device.");
		}

		if (m_read_counter >= num_read_attempts) {
			// Done test - PASSED
			m_pass = TEST_PASS;
			m_done = true;

		} else if (m_read_attempts > num_read_attempts) {
			DF_LOG_INFO("error: unable to read the IMU sensor device.");
			m_done = true;
		}
	}

	DevMgr::releaseHandle(h);

	DF_LOG_INFO("Closing IMU sensor");
	m_sensor.stop();
	return m_pass;
}