1#!/usr/bin/python
2# Author: Jon Trulson <jtrulson@ics.com>
3# Copyright (c) 2015 Intel Corporation.
4#
5# Permission is hereby granted, free of charge, to any person obtaining
6# a copy of this software and associated documentation files (the
7# "Software"), to deal in the Software without restriction, including
8# without limitation the rights to use, copy, modify, merge, publish,
9# distribute, sublicense, and/or sell copies of the Software, and to
10# permit persons to whom the Software is furnished to do so, subject to
11# the following conditions:
12#
13# The above copyright notice and this permission notice shall be
14# included in all copies or substantial portions of the Software.
15#
16# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23
24import time, sys, signal, atexit
25import pyupm_mpu9150 as sensorObj
26
27# Instantiate an MPU9250 on I2C bus 0
28sensor = sensorObj.MPU9250()
29
30## Exit handlers ##
31# This function stops python from printing a stacktrace when you hit control-C
32def SIGINTHandler(signum, frame):
33	raise SystemExit
34
35# This function lets you run code on exit
36def exitHandler():
37	print "Exiting"
38	sys.exit(0)
39
40# Register exit handlers
41atexit.register(exitHandler)
42signal.signal(signal.SIGINT, SIGINTHandler)
43
44sensor.init()
45
46x = sensorObj.new_floatp()
47y = sensorObj.new_floatp()
48z = sensorObj.new_floatp()
49
50while (1):
51        sensor.update()
52        sensor.getAccelerometer(x, y, z)
53        print "Accelerometer: AX: ", sensorObj.floatp_value(x),
54        print " AY: ", sensorObj.floatp_value(y),
55        print " AZ: ", sensorObj.floatp_value(z)
56
57        sensor.getGyroscope(x, y, z)
58        print "Gyroscope:     GX: ", sensorObj.floatp_value(x),
59        print " GY: ", sensorObj.floatp_value(y),
60        print " GZ: ", sensorObj.floatp_value(z)
61
62        sensor.getMagnetometer(x, y, z)
63        print "Magnetometer:  MX: ", sensorObj.floatp_value(x),
64        print " MY: ", sensorObj.floatp_value(y),
65        print " MZ: ", sensorObj.floatp_value(z)
66
67        print "Temperature:  ", sensor.getTemperature()
68        print
69
70	time.sleep(.5)
71