mpu9250: Initial implementation

This driver was implemented using a Grove IMU 9DOF V2.0 (mpu9250).

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: sisinty sasmita patra <sisinty.s.patra@intel.com>

examples/c++/CMakeLists.txt

@@ -133,6 +133,7 @@ add_executable (mpu60x0-example mpu60x0.cxx)
 add_executable (ak8975-example ak8975.cxx)
 add_executable (lsm9ds0-example lsm9ds0.cxx)
 add_executable (eboled-example eboled.cxx)
+add_executable (mpu9250-example mpu9250.cxx)
 add_executable (hyld9767-example hyld9767.cxx)
 add_executable (mg811-example mg811.cxx)
 add_executable (wheelencoder-example wheelencoder.cxx)
@@ -379,6 +380,7 @@ target_link_libraries (mpu60x0-example mpu9150 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (ak8975-example mpu9150 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (lsm9ds0-example lsm9ds0 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (eboled-example i2clcd ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (mpu9250-example mpu9150 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (hyld9767-example hyld9767 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (mg811-example mg811 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (wheelencoder-example wheelencoder ${CMAKE_THREAD_LIBS_INIT})

examples/c++/mpu9250.cxx

@@ -0,0 +1,81 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+#include "mpu9250.h"
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  upm::MPU9250 *sensor = new upm::MPU9250();
+
+  sensor->init();
+
+  while (shouldRun)
+    {
+      sensor->update();
+      
+      float x, y, z;
+      
+      sensor->getAccelerometer(&x, &y, &z);
+      cout << "Accelerometer: ";
+      cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
+
+      sensor->getGyroscope(&x, &y, &z);
+      cout << "Gryoscope:     ";
+      cout << "GX: " << x << " GY: " << y << " GZ: " << z << endl;
+      
+      sensor->getMagnetometer(&x, &y, &z);
+      cout << "Magnetometer:  ";
+      cout << "MX = " << x << " MY = " << y << " MZ = " << z << endl;
+
+      cout << "Temperature:   " << sensor->getTemperature() << endl;
+      cout << endl;
+
+      usleep(500000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+  
+  delete sensor;
+  
+  return 0;
+}

examples/javascript/mpu9250.js

@@ -0,0 +1,76 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+var sensorObj = require('jsupm_mpu9150');
+
+// Instantiate an MPU9105 on default I2C bus and address
+var sensor = new sensorObj.MPU9250();
+
+// Initialize the device with default values
+sensor.init();
+
+var x = new sensorObj.new_floatp();
+var y = new sensorObj.new_floatp();
+var z = new sensorObj.new_floatp();
+
+// Output data every half second until interrupted
+setInterval(function()
+{
+    sensor.update();
+    
+    sensor.getAccelerometer(x, y, z);
+    console.log("Accelerometer: AX: " + sensorObj.floatp_value(x) + 
+                " AY: " + sensorObj.floatp_value(y) + 
+                " AZ: " + sensorObj.floatp_value(z));
+
+    sensor.getGyroscope(x, y, z);
+    console.log("Gyroscope:     GX: " + sensorObj.floatp_value(x) + 
+                " AY: " + sensorObj.floatp_value(y) + 
+                " AZ: " + sensorObj.floatp_value(z));
+ 
+    sensor.getMagnetometer(x, y, z);
+    console.log("Magnetometer:  MX: " + sensorObj.floatp_value(x) + 
+                " MY: " + sensorObj.floatp_value(y) + 
+                " MZ: " + sensorObj.floatp_value(z));
+
+    console.log("Temperature:   " + sensor.getTemperature());
+ 
+    console.log();
+
+}, 500);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});
+

examples/python/mpu9250.py

@@ -0,0 +1,70 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2015 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_mpu9150 as sensorObj
+
+# Instantiate an MPU9250 on I2C bus 0
+sensor = sensorObj.MPU9250()
+
+## Exit handlers ##
+# This function stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+sensor.init()
+
+x = sensorObj.new_floatp()
+y = sensorObj.new_floatp()
+z = sensorObj.new_floatp()
+
+while (1):
+        sensor.update()
+        sensor.getAccelerometer(x, y, z)
+        print "Accelerometer: AX: ", sensorObj.floatp_value(x), 
+        print " AY: ", sensorObj.floatp_value(y),
+        print " AZ: ", sensorObj.floatp_value(z)
+
+        sensor.getGyroscope(x, y, z)
+        print "Gyroscope:     GX: ", sensorObj.floatp_value(x), 
+        print " GY: ", sensorObj.floatp_value(y),
+        print " GZ: ", sensorObj.floatp_value(z)
+
+        sensor.getMagnetometer(x, y, z)
+        print "Magnetometer:  MX: ", sensorObj.floatp_value(x), 
+        print " MY: ", sensorObj.floatp_value(y),
+        print " MZ: ", sensorObj.floatp_value(z)
+
+        print "Temperature:  ", sensor.getTemperature()
+        print
+
+	time.sleep(.5)