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      1 #!/usr/bin/python
      2 # Author: Jon Trulson <jtrulson (at] 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 
     24 import time, sys, signal, atexit
     25 import pyupm_mpu9150 as sensorObj
     26 
     27 # Instantiate an AK8975 on I2C bus 0
     28 sensor = sensorObj.AK8975()
     29 
     30 ## Exit handlers ##
     31 # This function stops python from printing a stacktrace when you hit control-C
     32 def SIGINTHandler(signum, frame):
     33 	raise SystemExit
     34 
     35 # This function lets you run code on exit
     36 def exitHandler():
     37 	print "Exiting"
     38 	sys.exit(0)
     39 
     40 # Register exit handlers
     41 atexit.register(exitHandler)
     42 signal.signal(signal.SIGINT, SIGINTHandler)
     43 
     44 sensor.init()
     45 
     46 x = sensorObj.new_floatp()
     47 y = sensorObj.new_floatp()
     48 z = sensorObj.new_floatp()
     49 
     50 while (1):
     51         sensor.update()
     52         sensor.getMagnetometer(x, y, z)
     53         print "Magnetometer:  MX: ", sensorObj.floatp_value(x), 
     54         print " MY: ", sensorObj.floatp_value(y),
     55         print " MZ: ", sensorObj.floatp_value(z)
     56 
     57         print
     58 
     59 	time.sleep(.5)
     60