bno055: C port; C++ wraps C

The API has been changed in some cases - see the apichanges.md
document.

In addition, this driver uses a new upm_vectortypes.i SWIG interface
file to provide a mechanism for methods that return a vector of floats
and ints instead of a pointer to an array.

This works much nicer than C array pointers, and results in Python/JS/Java
code that looks much more "natural" to the language in use.

The Python, JS, and Java examples have been changed to use these
methods.  Support for the "old" C-style pointer methods are still
provided for backward compatibility with existing code.

As an example - to retrieve the x, y, and z data for Euler Angles from
the bno055, the original python code would look something like:

       ...
       x = sensorObj.new_floatp()
       y = sensorObj.new_floatp()
       z = sensorObj.new_floatp()
       ...
       sensor.getEulerAngles(x, y, z)
       ...
       print("Euler: Heading:", sensorObj.floatp_value(x), end=' ')
       print(" Roll:", sensorObj.floatp_value(y), end=' ')
       ...

Now the equivalent code is simply:

       floatData = sensor.getEulerAngles()
       print("Euler: Heading:", floatData[0], ...
       print(" Roll:", floatData[1], end=' ')
       ...

Additionally, interrupt handling for Java is now implemented
completely in the C++ header file now rather than the .cxx file, so no
special SWIG processing is required anymore. See Issue #518 .

Signed-off-by: Jon Trulson <jtrulson@ics.com>

examples/c/CMakeLists.txt

@@ -149,6 +149,7 @@ add_example (hmc5883l)
 add_example (wfs)
 add_example (enc03r)
 add_example (nunchuck)
+add_example (bno055)
 
 # Custom examples
 add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)

examples/c/bno055.c

@@ -0,0 +1,119 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2017 Intel Corporation.
+ *
+ * The MIT License
+ *
+ * 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 <stdbool.h>
+#include <stdio.h>
+#include <upm_utilities.h>
+
+#include <signal.h>
+#include "bno055.h"
+
+bool shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+//! [Interesting]
+
+  // Initialize a BNO055 using default parameters (bus 0, addr
+  // 0x28).  The default running mode is NDOF absolute orientation
+  // mode.
+  bno055_context sensor = bno055_init(0, BNO055_DEFAULT_ADDR);
+
+  if (!sensor)
+  {
+      printf("bno055_init() failed.\n");
+      return 1;
+  }
+
+  // First we need to calibrate....
+  printf("First we need to calibrate.  4 numbers will be output every \n"
+         "second for each sensor.  0 means uncalibrated, and 3 means \n"
+         "fully calibrated.\n"
+         "See the UPM documentation on this sensor for instructions on \n"
+         "what actions are required to calibrate.\n");
+
+  // do the calibration...
+  while (shouldRun && !bno055_is_fully_calibrated(sensor))
+    {
+      int mag, acc, gyr, sys;
+      bno055_get_calibration_status(sensor, &mag, &acc, &gyr, &sys);
+
+      printf("Magnetometer: %d Accelerometer: %d Gyroscope: %d System: %d\n",
+             mag, acc, gyr, sys);
+
+      upm_delay(1);
+    }
+
+  printf("\nCalibration complete.\n\n");
+
+  // now output various fusion data every 250 milliseconds
+  while (shouldRun)
+    {
+      float w, x, y, z;
+
+      if (bno055_update(sensor))
+      {
+          printf("bno055_update() failed.\n");
+          return 1;
+      }
+
+      bno055_get_euler_angles(sensor, &x, &y, &z);
+      printf("Euler: Heading: %f Roll: %f Pitch: %f degrees\n",
+             x, y, z);
+
+      bno055_get_quaternions(sensor, &w, &x, &y, &z);
+      printf("Quaternion: W: %f X: %f Y: %f Z: %f\n",
+             w, x, y, z);
+
+      bno055_get_linear_acceleration(sensor, &x, &y, &z);
+      printf("Linear Acceleration: X: %f Y: %f Z: %f m/s^2\n",
+             x, y, z);
+
+      bno055_get_gravity_vectors(sensor, &x, &y, &z);
+      printf("Gravity Vector: X: %f Y: %f Z: %f m/s^2\n",
+             x, y, z);
+
+      printf("\n");
+      upm_delay_ms(250);
+    }
+
+//! [Interesting]
+
+  printf("Exiting...\n");
+
+  bno055_close(sensor);
+
+  return 0;
+}