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;
+}