1#!/usr/bin/python
2
3# Author: Brendan Le Foll <brendan.le.foll@intel.com>
4# Contributions: Zion Orent <zorent@ics.com>
5# Copyright (c) 2014 Intel Corporation.
6#
7# Permission is hereby granted, free of charge, to any person obtaining
8# a copy of this software and associated documentation files (the
9# "Software"), to deal in the Software without restriction, including
10# without limitation the rights to use, copy, modify, merge, publish,
11# distribute, sublicense, and/or sell copies of the Software, and to
12# permit persons to whom the Software is furnished to do so, subject to
13# the following conditions:
14#
15# The above copyright notice and this permission notice shall be
16# included in all copies or substantial portions of the Software.
17#
18# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
19# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
20# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
21# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
22# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
23# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
24# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE
25
26import time, sys, signal, atexit
27import pyupm_lsm303 as lsm303
28
29# Instantiate LSM303 compass on I2C
30myAccelrCompass = lsm303.LSM303(0)
31
32
33## Exit handlers ##
34# This stops python from printing a stacktrace when you hit control-C
35def SIGINTHandler(signum, frame):
36	raise SystemExit
37
38# This lets you run code on exit,
39# including functions from myAccelrCompass
40def exitHandler():
41	print "Exiting"
42	sys.exit(0)
43
44# Register exit handlers
45atexit.register(exitHandler)
46signal.signal(signal.SIGINT, SIGINTHandler)
47
48
49while(1):
50	# Load coordinates into LSM303 object
51	successFail = myAccelrCompass.getCoordinates()
52	# in XYZ order. The sensor returns XZY,
53	# but the driver compensates and makes it XYZ
54	coords = myAccelrCompass.getRawCoorData()
55
56	# Print out the X, Y, and Z coordinate data
57	# using two different methods
58	outputStr = "coor: rX {0} - rY {1} - rZ {2}".format(
59	coords.__getitem__(0), coords.__getitem__(1),
60	coords.__getitem__(2))
61	print outputStr
62
63	outputStr = "coor: gX {0} - gY {1} - gZ {2}".format(
64	myAccelrCompass.getCoorX(), myAccelrCompass.getCoorY(),
65	myAccelrCompass.getCoorZ())
66	print outputStr
67
68	# Get and print out the heading
69	print "heading:", myAccelrCompass.getHeading()
70
71	# Get the acceleration
72	myAccelrCompass.getAcceleration();
73	accel = myAccelrCompass.getRawAccelData();
74
75	# Print out the X, Y, and Z acceleration data
76	# using two different methods
77	outputStr = "acc: rX {0} - rY {1} - Z {2}".format(
78	accel.__getitem__(0), accel.__getitem__(1), accel.__getitem__(2))
79	print outputStr
80
81	outputStr = "acc: gX {0} - gY {1} - gZ {2}".format(
82	myAccelrCompass.getAccelX(), myAccelrCompass.getAccelY(),
83	myAccelrCompass.getAccelZ())
84	print outputStr
85
86	print " "
87	time.sleep(1)
88