1765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang#!/usr/bin/python 2765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# Author: Jon Trulson <jtrulson@ics.com> 3765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# Copyright (c) 2015 Intel Corporation. 4765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# 5765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# Permission is hereby granted, free of charge, to any person obtaining 6765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# a copy of this software and associated documentation files (the 7765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# "Software"), to deal in the Software without restriction, including 8765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# without limitation the rights to use, copy, modify, merge, publish, 9765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# distribute, sublicense, and/or sell copies of the Software, and to 10765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# permit persons to whom the Software is furnished to do so, subject to 11765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# the following conditions: 12765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# 13765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# The above copyright notice and this permission notice shall be 14765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# included in all copies or substantial portions of the Software. 15765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# 16765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 24765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangimport time, sys, signal, atexit 25765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangimport pyupm_mpu9150 as sensorObj 26765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 27765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# Instantiate an MPU60X0 on I2C bus 0 28765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangsensor = sensorObj.MPU60X0() 29765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 30765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang## Exit handlers ## 31765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# This function stops python from printing a stacktrace when you hit control-C 32765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangdef SIGINTHandler(signum, frame): 33765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang raise SystemExit 34765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 35765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# This function lets you run code on exit 36765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangdef exitHandler(): 37765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print "Exiting" 38765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sys.exit(0) 39765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 40765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang# Register exit handlers 41765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangatexit.register(exitHandler) 42765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangsignal.signal(signal.SIGINT, SIGINTHandler) 43765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 44765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangsensor.init() 45765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 46765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangx = sensorObj.new_floatp() 47765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangy = sensorObj.new_floatp() 48765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangz = sensorObj.new_floatp() 49765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 50765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhangwhile (1): 51765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.update() 52765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.getAccelerometer(x, y, z) 53765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print "Accelerometer: AX: ", sensorObj.floatp_value(x), 54765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print " AY: ", sensorObj.floatp_value(y), 55765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print " AZ: ", sensorObj.floatp_value(z) 56765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 57765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang sensor.getGyroscope(x, y, z) 58765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print "Gyroscope: GX: ", sensorObj.floatp_value(x), 59765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print " GY: ", sensorObj.floatp_value(y), 60765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print " GZ: ", sensorObj.floatp_value(z) 61765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 62765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print "Temperature: ", sensor.getTemperature() 63765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang print 64765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang 65765adb95dc941c32690d6c43bc08b9d07d197fcbJianxun Zhang time.sleep(.5) 66