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03e72e02f8
This driver has been rewritten from scratch. It is implemented as 3 seperate drivers now (but all included as part of the mpu9150 UPM library): AK8975 (Magnetometer) MPU60X0 (Accelerometer, Gyroscope, and Temperature sensor) MPU9150 (composed of AK8975 and MPU60X0) Each driver can be used independently and includes examples in C++/JS/Python. Commonly used capabilities are supported, and methods/register definitions exist to easily implement any desired functionality that is missing. Interrupt support has also been added. Scaling support has also been properly implemented for both the Accelerometer and Gyroscope. Signed-off-by: Jon Trulson <jtrulson@ics.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
71 lines
2.4 KiB
Python
71 lines
2.4 KiB
Python
#!/usr/bin/python
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# Author: Jon Trulson <jtrulson@ics.com>
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# Copyright (c) 2015 Intel Corporation.
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#
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# Permission is hereby granted, free of charge, to any person obtaining
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# a copy of this software and associated documentation files (the
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# "Software"), to deal in the Software without restriction, including
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# without limitation the rights to use, copy, modify, merge, publish,
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# distribute, sublicense, and/or sell copies of the Software, and to
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# permit persons to whom the Software is furnished to do so, subject to
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# the following conditions:
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#
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# The above copyright notice and this permission notice shall be
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# included in all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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import time, sys, signal, atexit
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import pyupm_mpu9150 as sensorObj
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# Instantiate an MPU9150 on I2C bus 0
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sensor = sensorObj.MPU9150()
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## Exit handlers ##
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# This function stops python from printing a stacktrace when you hit control-C
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def SIGINTHandler(signum, frame):
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raise SystemExit
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# This function lets you run code on exit
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def exitHandler():
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print "Exiting"
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sys.exit(0)
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# Register exit handlers
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atexit.register(exitHandler)
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signal.signal(signal.SIGINT, SIGINTHandler)
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sensor.init()
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x = sensorObj.new_floatp()
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y = sensorObj.new_floatp()
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z = sensorObj.new_floatp()
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while (1):
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sensor.update()
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sensor.getAccelerometer(x, y, z)
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print "Accelerometer: AX: ", sensorObj.floatp_value(x),
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print " AY: ", sensorObj.floatp_value(y),
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print " AZ: ", sensorObj.floatp_value(z)
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sensor.getGyroscope(x, y, z)
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print "Gyroscope: GX: ", sensorObj.floatp_value(x),
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print " GY: ", sensorObj.floatp_value(y),
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print " GZ: ", sensorObj.floatp_value(z)
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sensor.getMagnetometer(x, y, z)
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print "Magnetometer: MX: ", sensorObj.floatp_value(x),
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print " MY: ", sensorObj.floatp_value(y),
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print " MZ: ", sensorObj.floatp_value(z)
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print "Temperature: ", sensor.getTemperature()
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print
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time.sleep(.5)
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