lsm6ds3h: Initial implementation; C; FTI: C++; C++ wraps C; examples

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

examples/c++/lsm6ds3h.cxx

@@ -0,0 +1,88 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 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 "lsm6ds3h.hpp"
+
+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 LSM6DS3H using default I2C parameters
+  upm::LSM6DS3H sensor;
+
+  // For SPI, bus 0, you would pass -1 as the address, and a valid pin
+  // for CS: LSM6DS3H(0, -1, 10);
+
+  // now output data every 250 milliseconds
+  while (shouldRun)
+    {
+      float x, y, z;
+
+      sensor.update();
+
+      sensor.getAccelerometer(&x, &y, &z);
+      cout << "Accelerometer x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " g"
+           << endl;
+
+      sensor.getGyroscope(&x, &y, &z);
+      cout << "Gyroscope x: " << x
+           << " y: " << y
+           << " z: " << z
+           << " dps"
+           << endl;
+
+      // we show both C and F for temperature
+      cout << "Compensation Temperature: " << sensor.getTemperature()
+           << " C / " << sensor.getTemperature(true) << " F"
+           << endl;
+
+      cout << endl;
+
+      usleep(250000);
+    }
+
+//! [Interesting]
+
+  cout << "Exiting..." << endl;
+
+  return 0;
+}

examples/c/lsm6ds3h.c

@@ -0,0 +1,104 @@
+/*
+ * 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 <stdio.h>
+#include <signal.h>
+
+#include "upm_utilities.h"
+#include "lsm6ds3h.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]
+
+#if defined(CONFIG_BOARD_ARDUINO_101_SSS)
+    // ARDUINO_101_SSS (ARC core) must use I2C
+    // Instantiate a LSM6DS3H instance using default i2c bus and address
+    lsm6ds3h_context sensor = lsm6ds3h_init(LSM6DS3H_DEFAULT_I2C_BUS,
+                                            LSM6DS3H_DEFAULT_I2C_ADDR, -1);
+#elif defined(CONFIG_BOARD_ARDUINO_101)
+    // ARDUINO_101 (Quark core) must use SPI
+    // Instantiate a LSM6DS3H instance using default SPI bus and pin 10 as CS
+    lsm6ds3h_context sensor = lsm6ds3h_init(LSM6DS3H_DEFAULT_SPI_BUS,
+                                            -1, 10);
+#else
+    // everything else use I2C by default
+    // Instantiate a LSM6DS3H instance using default i2c bus and address
+    lsm6ds3h_context sensor = lsm6ds3h_init(LSM6DS3H_DEFAULT_I2C_BUS,
+                                            LSM6DS3H_DEFAULT_I2C_ADDR, -1);
+#endif
+
+    if (!sensor)
+    {
+        printf("lsm6ds3h_init() failed.\n");
+        return 1;
+    }
+
+    // now output data every 250 milliseconds
+    while (shouldRun)
+    {
+        float x, y, z;
+
+        if (lsm6ds3h_update(sensor))
+        {
+            printf("lsm6ds3h_update() failed\n");
+            lsm6ds3h_close(sensor);
+            return 1;
+        }
+
+        lsm6ds3h_get_accelerometer(sensor, &x, &y, &z);
+        printf("Acceleration x: %f y: %f z: %f g\n",
+               x, y, z);
+
+        lsm6ds3h_get_gyroscope(sensor, &x, &y, &z);
+        printf("Gyroscope x: %f y: %f z: %f dps\n",
+               x, y, z);
+
+        printf("Compensation Temperature: %f C\n\n",
+               lsm6ds3h_get_temperature(sensor));
+
+        upm_delay_ms(250);
+    }
+
+    printf("Exiting...\n");
+
+    lsm6ds3h_close(sensor);
+
+//! [Interesting]
+
+    return 0;
+}

examples/java/CMakeLists.txt

@@ -191,6 +191,7 @@ add_example(LSM303D_Example lsm303d)
 add_example(VEML6070Sample veml6070)
 add_example(RN2903_Example rn2903)
 add_example(LIS2DS12_Example lis2ds12)
+add_example(LSM6DS3H_Example lsm6ds3h)
 
 add_example_with_path(Jhd1313m1_lcdSample jhd1313m1 jhd1313m1)
 add_example_with_path(Jhd1313m1Sample jhd1313m1 jhd1313m1)

examples/java/LSM6DS3H_Example.java

@@ -0,0 +1,71 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016-2017 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 upm_lsm6ds3h.*;
+
+public class LSM6DS3H_Example
+{
+    public static void main(String[] args) throws InterruptedException
+    {
+// ! [Interesting]
+
+        // Instantiate a LSM6DS3H instance using default i2c bus and address
+        LSM6DS3H sensor = new LSM6DS3H();
+
+        // For SPI, bus 0, you would pass -1 as the address, and a
+        // valid pin for CS:
+        // LSM6DS3H(0, -1, 10);
+
+        while (true)
+            {
+                // update our values from the sensor
+                sensor.update();
+
+                floatVector data = sensor.getAccelerometer();
+
+                System.out.println("Accelerometer x: " + data.get(0)
+                                   + " y: " + data.get(1)
+                                   + " z: " + data.get(2)
+                                   + " g");
+
+                data = sensor.getGyroscope();
+
+                System.out.println("Gyroscope x: " + data.get(0)
+                                   + " y: " + data.get(1)
+                                   + " z: " + data.get(2)
+                                   + " dps");
+
+                System.out.println("Compensation Temperature: "
+                                   + sensor.getTemperature()
+                                   + " C / "
+                                   + sensor.getTemperature(true)
+                                   + " F");
+
+                System.out.println();
+                Thread.sleep(250);
+            }
+
+// ! [Interesting]
+    }
+}

examples/javascript/lsm6ds3h.js

@@ -0,0 +1,72 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016-2017 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_lsm6ds3h');
+
+// Instantiate a LSM6DS3H instance using default i2c bus and address
+var sensor = new sensorObj.LSM6DS3H();
+
+// For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+// LSM6DS3H(0, -1, 10);
+
+// now output data every 250 milliseconds
+setInterval(function()
+{
+    // update our values from the sensor
+    sensor.update();
+
+    var data = sensor.getAccelerometer();
+    console.log("Accelerometer x: "
+                + data.get(0)
+                + " y: " + data.get(1)
+                + " z: " + data.get(2)
+                + " g");
+
+    data = sensor.getGyroscope();
+    console.log("Gyroscope x: "
+                + data.get(0)
+                + " y: " + data.get(1)
+                + " z: " + data.get(2)
+                + " dps");
+
+    // we show both C and F for temperature
+    console.log("Compensation Temperature: "
+                + sensor.getTemperature()
+                + " C / "
+                + sensor.getTemperature(true)
+                + " F");
+
+    console.log();
+
+}, 250);
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    sensor = null;
+    sensorObj.cleanUp();
+    sensorObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});

examples/python/lsm6ds3h.py

@@ -0,0 +1,74 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2016-2017 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.
+
+from __future__ import print_function
+import time, sys, signal, atexit
+from upm import pyupm_lsm6ds3h as sensorObj
+
+def main():
+    # Instantiate a BMP250E instance using default i2c bus and address
+    sensor = sensorObj.LSM6DS3H()
+
+    # For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
+    # LSM6DS3H(0, -1, 10);
+
+    ## 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)
+
+    # now output data every 250 milliseconds
+    while (1):
+        sensor.update()
+
+        data = sensor.getAccelerometer()
+        print("Accelerometer x:", data[0], end=' ')
+        print(" y:", data[1], end=' ')
+        print(" z:", data[2], end=' ')
+        print(" g")
+
+        data = sensor.getGyroscope()
+        print("Gyroscope x:", data[0], end=' ')
+        print(" y:", data[1], end=' ')
+        print(" z:", data[2], end=' ')
+        print(" dps")
+
+        # we show both C and F for temperature
+        print("Compensation Temperature:", sensor.getTemperature(), "C /", end=' ')
+        print(sensor.getTemperature(True), "F")
+
+        print()
+        time.sleep(.250)
+
+if __name__ == '__main__':
+    main()