Initial escape library

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examples/Multithread/Makefile

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+CC = g++
+NAVIO = ../../Navio
+INCLUDES = -I ../..
+
+all:
+	$(CC) $(INCLUDES) threaded_baro.cpp $(NAVIO)/MS5611.cpp $(NAVIO)/I2Cdev.cpp $(NAVIO)/Util.cpp -lpthread -o threaded_baro
+
+clean:
+	rm threaded_baro

examples/Multithread/threaded_baro.cpp

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+/*
+Provided to you by Emlid Ltd (c) 2014.
+twitter.com/emlidtech || www.emlid.com || info@emlid.com
+
+Example: Get pressure from MS5611 barometer onboard of Navio shield for Raspberry Pi
+using a different thread, to update pressure info in the background
+
+To run this example navigate to the directory containing it and run following commands:
+make
+sudo ./threaded_baro
+*/
+
+#include "darkwater/MS5611.h"
+#include "darkwater/Util.h"
+#include <unistd.h>
+#include <stdio.h>
+#include <pthread.h>
+
+void * acquireBarometerData(void * barom)
+{
+    MS5611* barometer = (MS5611*)barom;
+
+    while (true) {
+        barometer->refreshPressure();
+        usleep(10000); // Waiting for pressure data ready
+        barometer->readPressure();
+
+        barometer->refreshTemperature();
+        usleep(10000); // Waiting for temperature data ready
+        barometer->readTemperature();
+
+        barometer->calculatePressureAndTemperature();
+
+        //sleep(0.5);
+    }
+
+    pthread_exit(NULL);
+}
+
+int main()
+{
+    if (check_apm()) {
+        return 1;
+    }
+
+    MS5611 baro;
+    baro.initialize();
+
+    pthread_t baro_thread;
+
+    if(pthread_create(&baro_thread, NULL, acquireBarometerData, (void *)&baro))
+    {
+        printf("Error: Failed to create barometer thread\n");
+        return 0;
+    }
+
+    while(true)
+    {
+        printf("Temperature(C): %f Pressure(millibar): %f\n", baro.getTemperature(), baro.getPressure());
+        sleep(1);
+    }
+
+    pthread_exit(NULL);
+
+    return 1;
+}