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#include <fcntl.h>
#include <stdio.h>
#include  <string.h>
#include  <sys/mman.h>
#include  <sys/ioctl.h>
#include “lms2012.h”
//The ports are designated as PORT_NUMBER-1
const char PORT = 0×0;
const int MAX_SAMPLES  = 100;
int main()
{
int file;
IIC     *pIic;
IICDAT IicDat;
int i;
int idx;

//Open the device file
if((file = open(IIC_DEVICE_NAME, O_RDWR | O_SYNC)) == -1)
{
printf(“Failed to open device\n”);
return -1;
}
pIic  =  (IIC*)mmap(0, sizeof(IIC), PROT_READ | PROT_WRITE, MAP_FILE | MAP_SHARED, file, 0);
if (pIic == MAP_FAILED)
{
printf(“Map failed\n”);
return -1;
}

//Setup IIC to read 2 packets
IicDat.Port = PORT;
IicDat.Time = 0;
IicDat.Repeat = 0;
IicDat.RdLng = 2;
IicDat.WrLng = 2;
// Set the device I2C address
IicDat.WrData[0] = 0×01;
// Specify the register that will be read (0×42 = angle)
IicDat.WrData[1] = 0×42;
// Setup I2C comunication
ioctl(file,IIC_SETUP,&IicDat);

printf(“Device is ready\n”);
for(i = 0;i<MAX_SAMPLES;i++)
{
//COmpute and show angle, the units are hundreds of degress
printf(“Angke [deg]x100 =  %d\n”, pIic->Raw[PORT][pIic->Actual[PORT]][0]*256+pIic->Raw[PORT][pIic->Actual[PORT]][1]);
sleep(1);
}

// Close the device file
printf(“Clossing device\n”);
close(file);
return 0;
}

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printf(“Angke [deg]x100 =  %d\n”, pIic->Raw[PORT][pIic->Actual[PORT]][0]*256+pIic->Raw[PORT][pIic->Actual[PORT]][1]);

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void get_xg1300l_gyro(float *angle, float *rate, float *acc_x, float *acc_y, float *acc_z)

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void get_xg1300l_gyro(char port, float *angle, float *rate, float *acc_x, float *acc_y, float *acc_z) 

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const char XGL_PORT = 0x0;