Merge pull request jrowberg#58 from honnet/MPU9150

Add MPU9150 folder: MP6050 with magnetometer (but without anymore file MP6050 related)

Author: jrowberg

Arduino/MPU9150/Examples/MPU9150_raw/MPU9150_raw.ino

@@ -0,0 +1,108 @@
+// I2C device class (I2Cdev) demonstration Arduino sketch for MPU9150
+// 1/4/2013 original by Jeff Rowberg <[email protected]> at https://github.com/jrowberg/i2cdevlib
+//          modified by Aaron Weiss <[email protected]>
+//
+// Changelog:
+//     2011-10-07 - initial release
+//     2013-1-4 - added raw magnetometer output
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+
+// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
+// is used in I2Cdev.h
+#include "Wire.h"
+
+// I2Cdev and MPU9150 must be installed as libraries, or else the .cpp/.h files
+// for both classes must be in the include path of your project
+#include "I2Cdev.h"
+#include "MPU9150.h"
+#include "helper_3dmath.h"
+
+// class default I2C address is 0x68
+// specific I2C addresses may be passed as a parameter here
+// AD0 low = 0x68 (default for InvenSense evaluation board)
+// AD0 high = 0x69
+MPU9150 accelGyroMag;
+
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+int16_t mx, my, mz;
+
+#define LED_PIN 13
+bool blinkState = false;
+
+void setup() {
+    // join I2C bus (I2Cdev library doesn't do this automatically)
+    Wire.begin();
+
+    // initialize serial communication
+    // (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
+    // it's really up to you depending on your project)
+    Serial.begin(115200);
+
+    // initialize device
+    Serial.println("Initializing I2C devices...");
+    accelGyroMag.initialize();
+
+    // verify connection
+    Serial.println("Testing device connections...");
+    Serial.println(accelGyroMag.testConnection() ? "MPU9150 connection successful" : "MPU9150 connection failed");
+
+    // configure Arduino LED for
+    pinMode(LED_PIN, OUTPUT);
+}
+
+void loop() {
+    // read raw accel/gyro/mag measurements from device
+    accelGyroMag.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
+
+    // these methods (and a few others) are also available
+    //accelGyroMag.getAcceleration(&ax, &ay, &az);
+    //accelGyroMag.getRotation(&gx, &gy, &gz);
+
+    // display tab-separated accel/gyro/mag x/y/z values
+//  Serial.print("a/g/m:\t");
+//  Serial.print(ax); Serial.print("\t");
+//  Serial.print(ay); Serial.print("\t");
+//  Serial.print(az); Serial.print("\t");
+//  Serial.print(gx); Serial.print("\t");
+//  Serial.print(gy); Serial.print("\t");
+//  Serial.print(gz); Serial.print("\t");
+    Serial.print(int(mx)*int(mx)); Serial.print("\t");
+    Serial.print(int(my)*int(my)); Serial.print("\t");
+    Serial.print(int(mz)*int(mz)); Serial.print("\t | ");
+
+    const float N = 256;
+    float mag = mx*mx/N + my*my/N + mz*mz/N;
+
+    Serial.print(mag); Serial.print("\t");
+    for (int i=0; i<mag; i++)
+        Serial.print("*");
+    Serial.print("\n");
+
+    // blink LED to indicate activity
+    blinkState = !blinkState;
+    digitalWrite(LED_PIN, blinkState);
+    delay(50);
+}