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>

src/mpu9150/CMakeLists.txt

@@ -1,5 +1,5 @@
 set (libname "mpu9150")
 set (libdescription "gyro, acceleromter and magnometer sensor based on mpu9150")
-set (module_src ${libname}.cxx ak8975.cxx mpu60x0.cxx)
-set (module_h ${libname}.h ak8975.h mpu60x0.h)
+set (module_src ${libname}.cxx ak8975.cxx mpu60x0.cxx mpu9250.cxx)
+set (module_h ${libname}.h ak8975.h mpu60x0.h mpu9250.h)
 upm_module_init()

src/mpu9150/jsupm_mpu9150.i

@@ -23,3 +23,8 @@
     #include "mpu9150.h"
 %}
 
+%include "mpu9250.h"
+%{
+    #include "mpu9250.h"
+%}
+

src/mpu9150/mpu60x0.h

@@ -830,7 +830,7 @@ namespace upm {
      *
      * @return the temperature value in degrees Celcius
      */
-    float getTemperature();
+    virtual float getTemperature();
 
     /**
      * enable onboard temperature measurement sensor

src/mpu9150/mpu9250.cxx

@@ -0,0 +1,50 @@
+/*
+ * 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 <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+
+#include "mpu9250.h"
+
+using namespace upm;
+using namespace std;
+
+MPU9250::MPU9250 (int bus, int address, int magAddress) :
+  MPU9150(bus, address, magAddress)
+{
+}
+
+MPU9250::~MPU9250()
+{
+}
+
+float MPU9250::getTemperature()
+{
+  // this equation is taken from the datasheet.  The 333.87 value was
+  // taken from the adafruit code (it is referenced as
+  // Temp_Sensitivity in the datasheet, but no value is provided there).
+  return (m_temp / 333.87) + 21.0;
+}
+

src/mpu9150/mpu9250.h

@@ -0,0 +1,82 @@
+/*
+ * 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.
+ */
+
+#pragma once
+
+#include "mpu9150.h"
+
+#define MPU9250_I2C_BUS 0
+#define MPU9250_DEFAULT_I2C_ADDR  MPU9150_DEFAULT_I2C_ADDR
+
+
+namespace upm {
+
+  /**
+   * @library mpu9150
+   * @sensor mpu9250
+   * @comname MPU9250 Inertial Measurement Unit
+   * @altname Grove IMU 9DOF V2
+   * @type accelerometer compass
+   * @man seeed
+   * @web http://www.seeedstudio.com/wiki/Grove_-_IMU_9DOF_v2.0
+   * @con i2c gpio
+   *
+   * @brief API for MPU9250 chip (Accelerometer, Gyro and Magnometer Sensor)
+   *
+   * This file defines the MPU9250 interface for libmpu9150
+   *
+   * @snippet mpu9250.cxx Interesting
+   */
+
+  class MPU9250: public MPU9150
+  {
+  public:
+    /**
+     * MPU9250 constructor
+     *
+     * @param bus I2C bus to use
+     * @param address The address for this device
+     * @param magAddress The address of the connected magnetometer
+     */
+    MPU9250 (int bus=MPU9250_I2C_BUS, int address=MPU9250_DEFAULT_I2C_ADDR,
+             int magAddress=AK8975_DEFAULT_I2C_ADDR);
+
+    /**
+     * MPU9250 destructor
+     */
+    ~MPU9250 ();
+
+    /**
+     * get the temperature value
+     *
+     * @return the temperature value in degrees Celcius
+     */
+    float getTemperature();
+
+  protected:
+
+  private:
+  };
+
+}

src/mpu9150/pyupm_mpu9150.i

@@ -23,3 +23,8 @@
     #include "mpu9150.h"
 %}
 
+%include "mpu9250.h"
+%{
+    #include "mpu9250.h"
+%}
+