hello-imu.cpp

#include <iostream>
#include <ev3dev.h>

struct __attribute__((__packed__)) gyro_data {
    struct {
        signed char x, y, z;
    } tilt;
    struct {
        short x, y, z;
    } accel;
    short compass;
    struct {
        short x, y, z;
    } mag;
    struct {
        short x, y, z;
    } gyro;
};

int main() {
    ev3dev::sensor s("", { "ms-absolute-imu" });
    std::cout << "connected: " << s.connected() << std::endl;

    if (s.connected()) {
        std::cout << "address: " << s.address() << std::endl;
        std::cout << "driver_name: " << s.driver_name() << std::endl;

        s.set_mode("ALL");

        gyro_data data;
        s.bin_data(&data);

        #define SHOW(field) std::cout << #field << ": " << (int)data.field << std::endl

        SHOW(tilt.x);
        SHOW(tilt.y);
        SHOW(tilt.z);

        SHOW(accel.x);
        SHOW(accel.y);
        SHOW(accel.z);

        SHOW(compass);

        SHOW(mag.x);
        SHOW(mag.y);
        SHOW(mag.z);

        SHOW(gyro.x);
        SHOW(gyro.y);
        SHOW(gyro.z);
    }
}