Initial escape library

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examples/AccelGyroMag/AccelGyroMag.cpp

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+/*
+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);
+    }}

examples/AccelGyroMag/Makefile

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+CC = g++
+DW = ../../darkwater
+INCLUDES = -I ../..
+
+all:
+	$(CC) $(INCLUDES) AccelGyroMag.cpp $(DW)/MPU9250.cpp $(DW)/Util.cpp -o AccelGyroMag
+
+clean:
+	rm AccelGyroMag