lsm303: python example and js modification for lsm303 accelerometer/compass

Signed-off-by: Zion Orent <zorent@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/javascript/lsm303.js

@@ -1,6 +1,5 @@
 /*jslint node:true, vars:true, bitwise:true, unparam:true */
 /*jshint unused:true */
-/*global */
 /*
 * Author: Zion Orent <zorent@ics.com>
 * Copyright (c) 2014 Intel Corporation.
@@ -30,16 +29,17 @@ var accelrCompassSensor = require('jsupm_lsm303');
 // Instantiate LSM303 compass on I2C
 var myAccelrCompass = new accelrCompassSensor.LSM303(0);
 
-setInterval(function()
+var successFail, coords, outputStr, accel;
+var myInterval = setInterval(function()
 {
 	// Load coordinates into LSM303 object
-	var successFail = myAccelrCompass.getCoordinates();
+	successFail = myAccelrCompass.getCoordinates();
 	// in XYZ order. The sensor returns XZY,
 	// but the driver compensates and makes it XYZ
-	var coords = myAccelrCompass.getRawCoorData();
+	coords = myAccelrCompass.getRawCoorData();
 
     // Print out the X, Y, and Z coordinate data using two different methods
-	var outputStr = "coor: rX " + coords.getitem(0)
+	outputStr = "coor: rX " + coords.getitem(0)
 					+ " - rY " + coords.getitem(1)
 					+ " - rZ " + coords.getitem(2);
 	console.log(outputStr);
@@ -53,7 +53,7 @@ setInterval(function()
 
     // Get the acceleration
 	myAccelrCompass.getAcceleration();
-	var accel = myAccelrCompass.getRawAccelData();
+	accel = myAccelrCompass.getRawAccelData();
     // Print out the X, Y, and Z acceleration data using two different methods
 	outputStr = "acc: rX " + accel.getitem(0)
 				+ " - rY " + accel.getitem(1)
@@ -65,3 +65,14 @@ setInterval(function()
 	console.log(outputStr);
 	console.log(" ");
 }, 1000);
+
+// Print message when exiting
+process.on('SIGINT', function()
+{
+	clearInterval(myInterval);
+	myAccelrCompass = null;
+	accelrCompassSensor.cleanUp();
+	accelrCompassSensor = null;
+	console.log("Exiting");
+	process.exit(0);
+});

examples/python/lsm303.py

@@ -1,6 +1,7 @@
-#!/usr/bin/env python
+#!/usr/bin/python
 
 # Author: Brendan Le Foll <brendan.le.foll@intel.com>
+# Contributions: Zion Orent <zorent@ics.com>
 # Copyright (c) 2014 Intel Corporation.
 #
 # Permission is hereby granted, free of charge, to any person obtaining
@@ -22,8 +23,65 @@
 # 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_lsm303 as lsm303
 
-x = lsm303.LSM303(0)
+# Instantiate LSM303 compass on I2C
-x.getCoordinates()
+myAccelrCompass = lsm303.LSM303(0)
-x.getHeading()
+
+
+## Exit handlers ##
+# This stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This lets you run code on exit,
+# including functions from myAccelrCompass
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+
+while(1):
+	# Load coordinates into LSM303 object
+	successFail = myAccelrCompass.getCoordinates()
+	# in XYZ order. The sensor returns XZY,
+	# but the driver compensates and makes it XYZ
+	coords = myAccelrCompass.getRawCoorData()
+
+	# Print out the X, Y, and Z coordinate data
+	# using two different methods
+	outputStr = "coor: rX {0} - rY {1} - rZ {2}".format(
+	coords.__getitem__(0), coords.__getitem__(1),
+	coords.__getitem__(2))
+	print outputStr
+
+	outputStr = "coor: gX {0} - gY {1} - gZ {2}".format(
+	myAccelrCompass.getCoorX(), myAccelrCompass.getCoorY(),
+	myAccelrCompass.getCoorZ())
+	print outputStr
+
+	# Get and print out the heading
+	print "heading:", myAccelrCompass.getHeading()
+
+	# Get the acceleration
+	myAccelrCompass.getAcceleration();
+	accel = myAccelrCompass.getRawAccelData();
+
+	# Print out the X, Y, and Z acceleration data
+	# using two different methods
+	outputStr = "acc: rX {0} - rY {1} - Z {2}".format(
+	accel.__getitem__(0), accel.__getitem__(1), accel.__getitem__(2))
+	print outputStr
+
+	outputStr = "acc: gX {0} - gY {1} - gZ {2}".format(
+	myAccelrCompass.getAccelX(), myAccelrCompass.getAccelY(),
+	myAccelrCompass.getAccelZ())
+	print outputStr
+
+	print " "
+	time.sleep(1)

src/lsm303/pyupm_lsm303.i

@@ -1,8 +1,15 @@
 %module pyupm_lsm303
 %include "../upm.i"
+%include "../carrays_int16_t.i"
 
 %feature("autodoc", "3");
 
+// Adding this typemap because SWIG is converting int16 into a short by default
+// This forces SWIG to convert it correctly
+%typemap(out) int16_t* {
+	resultobj = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_int16Array, 0 |  0 );
+}
+
 %include "lsm303.h"
 %{
     #include "lsm303.h"