extern crate linux_embedded_hal as hal;
use bmi160::{AccelerometerPowerMode, Bmi160, GyroscopePowerMode, SensorSelector, SlaveAddr};

fn main() {
    let dev = hal::I2cdev::new("/dev/i2c-1").unwrap();
    let address = SlaveAddr::default();
    let mut imu = Bmi160::new_with_i2c(dev, address);
    imu.set_accel_power_mode(AccelerometerPowerMode::Normal)
        .unwrap();
    imu.set_gyro_power_mode(GyroscopePowerMode::Normal).unwrap();
    loop {
        let data = imu.data(SensorSelector::new().accel().gyro()).unwrap();
        let accel = data.accel.unwrap();
        let gyro = data.gyro.unwrap();
        println!(
            "Accelerometer: x {:5} y {:5} z {:5}, \
             Gyroscope: x {:5} y {:5} z {:5}",
            accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z
        );
    }
}