tests: Add test for MPU-9150 9-Axis motion sensor driver

tests/driver_mpu9150/Makefile

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+APPLICATION = driver_mpu9150
+include ../Makefile.tests_common
+
+FEATURES_REQUIRED = periph_i2c
+
+# Define default mappings for some boards:
+ifneq (,$(filter msbiot,$(BOARD)))
+  export TEST_I2C ?= MPU9150_I2C
+  export TEST_HW_ADDR ?= MPU9150_HW_ADDR
+  export TEST_COMP_ADDR ?= MPU9150_COMP_ADDR
+endif
+
+USEMODULE += mpu9150
+USEMODULE += vtimer
+
+ifneq (,$(TEST_I2C))
+  CFLAGS += -DTEST_I2C=$(TEST_I2C)
+else
+  # set random default
+  CFLAGS += -DTEST_I2C=I2C_0
+endif
+ifneq (,$(TEST_HW_ADDR))
+  CFLAGS += -DTEST_HW_ADDR=$(TEST_HW_ADDR)
+else
+  # set random default
+  CFLAGS += -DTEST_HW_ADDR=MPU9150_HW_ADDR_HEX_68
+endif
+ifneq (,$(TEST_COMP_ADDR))
+  CFLAGS += -DTEST_COMP_ADDR=$(TEST_COMP_ADDR)
+else
+  # set random default
+  CFLAGS += -DTEST_COMP_ADDR=MPU9150_COMP_ADDR_HEX_0C
+endif
+
+include $(RIOTBASE)/Makefile.include

tests/driver_mpu9150/README.md

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+# About
+This is a test application for the MPU-9150 Nine-Axis Driver.
+
+# Usage
+The application will initialize the MPU-9150 motion sensor with the following parameters:
+ - Accelerometer: ON
+ - Gyroscope: ON
+ - Magnetometer: ON
+ - Sampling Rate: 200Hz
+ - Compass Sampling Rate: 100Hz
+
+After initialization, the application reads accel, gyro, compass and temperature values
+every second and prints them to the STDOUT.

tests/driver_mpu9150/main.c

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+/*
+ * Copyright (C) 2015 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup tests
+ * @{
+ *
+ * @file
+ * @brief       Test application for the MPU-9150 Nine-Axis driver
+ *
+ * @author      Fabian Nack <nack@inf.fu-berlin.de>
+ *
+ * @}
+ */
+
+#ifndef TEST_I2C
+#error "TEST_I2C not defined"
+#endif
+#ifndef TEST_HW_ADDR
+#error "TEST_HW_ADDR not defined"
+#endif
+#ifndef TEST_COMP_ADDR
+#error "TEST_COMP_ADDR not defined"
+#endif
+
+#include <stdio.h>
+
+#include "mpu9150.h"
+#include "vtimer.h"
+#include "board.h"
+
+#define SLEEP   (1000 * 1000u)
+
+int main(void)
+{
+    mpu9150_t dev;
+    mpu9150_results_t measurement;
+    int32_t temperature;
+    int result;
+
+    puts("MPU-9150 test application\n");
+
+    vtimer_init();
+
+    printf("+------------Initializing------------+\n");
+    result = mpu9150_init(&dev, TEST_I2C, TEST_HW_ADDR, TEST_COMP_ADDR);
+
+    if (result == -1) {
+        puts("[Error] The given i2c is not enabled");
+        return 1;
+    }
+    else if (result == -2) {
+        puts("[Error] The compass did not answer correctly on the given address");
+        return 1;
+    }
+
+    mpu9150_set_sample_rate(&dev, 200);
+    if (dev.conf.sample_rate != 200) {
+        puts("[Error] The sample rate was not set correctly");
+        return 1;
+    }
+    mpu9150_set_compass_sample_rate(&dev, 100);
+    if (dev.conf.compass_sample_rate != 100) {
+        puts("[Error] The compass sample rate was not set correctly");
+        return 1;
+    }
+
+    printf("Initialization successful\n\n");
+    printf("+------------Configuration------------+\n");
+    printf("Sample rate: %"PRIu16" Hz\n", dev.conf.sample_rate);
+    printf("Compass sample rate: %"PRIu8" Hz\n", dev.conf.compass_sample_rate);
+    printf("Gyro full-scale range: 2000 DPS\n");
+    printf("Accel full-scale range: 2 G\n");
+    printf("Compass X axis factory adjustment: %"PRIu8"\n", dev.conf.compass_x_adj);
+    printf("Compass Y axis factory adjustment: %"PRIu8"\n", dev.conf.compass_y_adj);
+    printf("Compass Z axis factory adjustment: %"PRIu8"\n", dev.conf.compass_z_adj);
+
+    printf("\n+--------Starting Measurements--------+\n");
+    while (1) {
+        /* Get accel data in milli g */
+        mpu9150_read_accel(&dev, &measurement);
+        printf("Accel data [milli g] - X: %d   Y: %d   Z: %d\n",
+                measurement.x_axis, measurement.y_axis, measurement.z_axis);
+        /* Get gyro data in dps */
+        mpu9150_read_gyro(&dev, &measurement);
+        printf("Gyro data [dps] - X: %d   Y: %d   Z: %d\n",
+                measurement.x_axis, measurement.y_axis, measurement.z_axis);
+        /* Get compass data in mikro Tesla */
+        mpu9150_read_compass(&dev, &measurement);
+        printf("Compass data [mikro T] - X: %d   Y: %d   Z: %d\n",
+                measurement.x_axis, measurement.y_axis, measurement.z_axis);
+        /* Get temperature in milli degrees celsius */
+        mpu9150_read_temperature(&dev, &temperature);
+        printf("Temperature [milli deg] : %ld\n", temperature);
+        printf("\n+-------------------------------------+\n");
+
+        vtimer_usleep(SLEEP);
+    }
+
+    return 0;
+}