rc_test_dmp_tap.c

/**
 * @file rc_test_dmp_tap.c
 * @example    rc_test_dmp_tap
 *
 * @brief      tests tap detection on MPU in DMP mode
 *
 * @author     James Strawson
 * @date       1/29/2018
 */


#include <stdio.h>
#include <signal.h>
#include <getopt.h>
#include <rc/mpu.h>
#include <rc/time.h>

// bus for Robotics Cape and BeagleboneBlue is 2
// change this for your platform
#define I2C_BUS 2

static int running = 0;

// interrupt handler to catch ctrl-c
static void __signal_handler(__attribute__ ((unused)) int dummy)
{
        running=0;
        return;
}

static void __tap_callback_func(int direction, int counter)
{
        switch(direction){
                case 1:
                        printf("received tap in direction: X+");
                        break;
                case 2:
                        printf("received tap in direction: X-");
                        break;
                case 3:
                        printf("received tap in direction: Y+");
                        break;
                case 4:
                        printf("received tap in direction: Y-");
                        break;
                case 5:
                        printf("received tap in direction: Z+");
                        break;
                case 6:
                        printf("received tap in direction: Z-");
                        break;
                default:
                        printf("invalid tap direction: %d", direction);
        }
        printf(" counter: %d\n", counter);
        fflush(stdout);
        return;
}

int main()
{
        rc_mpu_data_t data; //struct to hold new data

        // set signal handler so the loop can exit cleanly
        signal(SIGINT, __signal_handler);
        running = 1;

        // use defaults for now, except also enable magnetometer.
        rc_mpu_config_t conf = rc_mpu_default_config();
        conf.i2c_bus = I2C_BUS;

        if(rc_mpu_initialize_dmp(&data, conf)){
                fprintf(stderr,"rc_mpu_initialize_dmp_failed\n");
                return -1;
        }

        // attach callback
        rc_mpu_set_tap_callback(__tap_callback_func);

        //now just wait, print_data will run
        while(running){
                rc_usleep(100000);
        }

        rc_mpu_power_off();
        return 0;
}