text: #!/usr/bin/python
  
  # Author: Brendan Le Foll <brendan.le.foll@intel.com>
  # Contributions: Zion Orent <zorent@ics.com>
  # Copyright (c) 2014 Intel Corporation.
  #
  # 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
  
  from __future__ import print_function
  import time, sys, signal, atexit
  from upm import pyupm_lsm303 as lsm303
  
  def main():
      # Instantiate LSM303 compass on I2C
      myAccelrCompass = lsm303.LSM303(0)
  
      ## Exit handlers ##
      # This stops python from printing a stacktrace when you hit control-C
      def SIGINTHandler(signum, frame):
          raise SystemExit
  
      # This lets you run code on exit,
      # including functions from myAccelrCompass
      def exitHandler():
          print("Exiting")
          sys.exit(0)
  
      # Register exit handlers
      atexit.register(exitHandler)
      signal.signal(signal.SIGINT, SIGINTHandler)
  
      while(1):
          # Load coordinates into LSM303 object
          successFail = myAccelrCompass.getCoordinates()
          # in XYZ order. The sensor returns XZY,
          # but the driver compensates and makes it XYZ
          coords = myAccelrCompass.getRawCoorData()
  
          # Print out the X, Y, and Z coordinate data
          # using two different methods
          outputStr = "coor: rX {0} - rY {1} - rZ {2}".format(
          coords.__getitem__(0), coords.__getitem__(1),
          coords.__getitem__(2))
          print(outputStr)
  
          outputStr = "coor: gX {0} - gY {1} - gZ {2}".format(
          myAccelrCompass.getCoorX(), myAccelrCompass.getCoorY(),
          myAccelrCompass.getCoorZ())
          print(outputStr)
  
          # Get and print out the heading
          print("heading:", myAccelrCompass.getHeading())
  
          # Get the acceleration
          myAccelrCompass.getAcceleration();
          accel = myAccelrCompass.getRawAccelData();
  
          # Print out the X, Y, and Z acceleration data
          # using two different methods
          outputStr = "acc: rX {0} - rY {1} - Z {2}".format(
          accel.__getitem__(0), accel.__getitem__(1), accel.__getitem__(2))
          print(outputStr)
  
          outputStr = "acc: gX {0} - gY {1} - gZ {2}".format(
          myAccelrCompass.getAccelX(), myAccelrCompass.getAccelY(),
          myAccelrCompass.getAccelZ())
          print(outputStr)
  
          print(" ")
          time.sleep(1)
  
  if __name__ == '__main__':
      main()
  