bma220: Initial implementation

This driver was developed based on the DFRobot Triple Axis
accelerometer BMA220 (Tiny):

http://www.dfrobot.com/index.php?route=product/product&product_id=1085

This device can only run at 3.3v DC.  Do not connect to 5v.

Added a private function definition for the installISR function. Done because C++
wasn't able to find the function definition for the java bindings.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Abhishek Malik <abhishek.malik@intel.com>

examples/c++/CMakeLists.txt

@@ -151,6 +151,7 @@ add_executable (xbee-example xbee.cxx)
 add_executable (urm37-example urm37.cxx)
 add_executable (urm37-uart-example urm37-uart.cxx)
 add_executable (adxrs610-example adxrs610.cxx)
+add_executable (bma220-example bma220.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -266,6 +267,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/micsv89)
 include_directories (${PROJECT_SOURCE_DIR}/src/xbee)
 include_directories (${PROJECT_SOURCE_DIR}/src/urm37)
 include_directories (${PROJECT_SOURCE_DIR}/src/adxrs610)
+include_directories (${PROJECT_SOURCE_DIR}/src/bma220)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -418,3 +420,4 @@ target_link_libraries (xbee-example xbee ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (urm37-example urm37 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (urm37-uart-example urm37 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (adxrs610-example adxrs610 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (bma220-example bma220 ${CMAKE_THREAD_LIBS_INIT})

examples/c++/bma220.cxx

@@ -0,0 +1,70 @@
+/*
+ * 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 "bma220.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]
+
+  // Instantiate an BMA220 using default parameters (bus 0, addr 0x0a)
+  upm::BMA220 *sensor = new upm::BMA220();
+
+  // Output data every half second until interrupted
+  while (shouldRun)
+    {
+      sensor->update();
+      
+      float x, y, z;
+      
+      sensor->getAccelerometer(&x, &y, &z);
+      cout << "Accelerometer: ";
+      cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
+
+      usleep(500000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+  
+  delete sensor;
+  
+  return 0;
+}

examples/javascript/bma220.js

@@ -0,0 +1,59 @@
+/*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_bma220');
+
+// Instantiate an BMA220 using default parameters (bus 0, addr 0x0a)
+var sensor = new sensorObj.BMA220();
+
+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));
+
+}, 500);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});
+

examples/python/bma220.py

@@ -0,0 +1,55 @@
+#!/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_bma220 as sensorObj
+
+# Instantiate an BMA220 using default parameters (bus 0, addr 0x0a)
+sensor = sensorObj.BMA220()
+
+## 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)
+
+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)
+
+	time.sleep(.5)