/*
Provided to you by Emlid Ltd (c) 2014.
twitter.com/emlidtech || www.emlid.com || info@emlid.com

Example: Read accelerometer, gyroscope and magnetometer values from
MPU9250 inertial measurement unit over SPI on Raspberry Pi + Navio.

Navio's onboard MPU9250 is connected to the SPI bus on Raspberry Pi
and can be read through /dev/spidev0.1

To run this example navigate to the directory containing it and run following commands:
make
./AccelGyroMag
*/

#include "darkwater/MPU9250.h"
#include "darkwater/Util.h"
#include <stdlib.h>
//=============================================================================

int main()
{
    if (check_apm()) {
        return 1;
    }
	//-------------------------------------------------------------------------
	MPU9250 imu;
	imu.initialize();

	float ax, ay, az, gx, gy, gz, mx, my, mz;

    //-------------------------------------------------------------------------

    while(1) {
        imu.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
	printf("Acc: %+7.3f %+7.3f %+7.3f  ", ax, ay, az);
	printf("Gyr: %+8.3f %+8.3f %+8.3f  ", gx, gy, gz);
	printf("Mag: %+7.3f %+7.3f %+7.3f\n", mx, my, mz);
	
	usleep(500000);
    }}