MPU9150 Class Reference

C++ API for MPU9150 chip (Accelerometer, Gyro and Magnometer Sensor) More...

Detailed Description

• ID: mpu9150
• Name: mpu9150 accelerometer library
• Category: accelerometer compass
• Manufacturer: seeed
• Link: http://www.seeedstudio.com/wiki/Grove_-_IMU_9DOF_v1.0
• Connection: i2c

This file defines the MPU9150 C++ interface for libmpu9150

    upm::Vector3D data;
    upm::MPU9150 *sensor = new upm::MPU9150(0, ADDR);
    sensor->getData ();
    sensor->getAcceleromter (&data);
    std::cout << "*************************************************" << std::endl;
    std::cout << "DEVICE ID (" << (int) sensor->getDeviceID () << ")" << std::endl;
    std::cout << "*************************************************" << std::endl;
    std::cout << "ACCELEROMETER :: X (" << data.axisX << ")" << " Y (" << data.axisY << ")"
                << " Z (" << data.axisZ << ")" << std::endl;

    sensor->getGyro (&data);
    std::cout << "GYRO :: X (" << data.axisX << ")" << " Y (" << data.axisY << ")"
                << " Z (" << data.axisZ << ")" << std::endl;

    sensor->getMagnometer (&data);
    std::cout << "MAGNOMETER :: X (" << data.axisX << ")" << " Y (" << data.axisY << ")"
                << " Z (" << data.axisZ << ")" << std::endl;
    std::cout << "TEMPERATURE (" << sensor->getTemperature () << ")" << std::endl;
    std::cout << "*************************************************" << std::endl;

Public Member Functions
	MPU9150 (int bus=0, int devAddr=0x68)
	~MPU9150 ()
mraa_result_t	initSensor ()
uint8_t	getDeviceID ()
mraa_result_t	getData ()
mraa_result_t	getAcceleromter (Vector3D *data)
mraa_result_t	getGyro (Vector3D *data)
mraa_result_t	getMagnometer (Vector3D *data)
float	getTemperature ()
std::string	name ()

Constructor & Destructor Documentation

MPU9150	(	int	bus = 0,
		int	devAddr = 0x68
	)

Instanciates a MPU9150 object

Parameters

bus	number of used bus
devAddr	addres of used i2c device

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~MPU9150

(

)

MPU9150 object destructor, basicaly it close i2c connection.

Member Function Documentation

mraa_result_t initSensor

(

)

Initiate MPU9150 chips

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uint8_t getDeviceID

(

)

Get identity of the device

mraa_result_t getData

(

)

Get the Accelerometer, Gyro and Compass data from the chip and save it in private section.

mraa_result_t getAcceleromter

(

Vector3D *

data

)

Parameters

data	structure with 3 axis (x,y,z)

mraa_result_t getGyro

(

Vector3D *

data

)

Parameters

data	structure with 3 axis (x,y,z)

mraa_result_t getMagnometer

(

Vector3D *

data

)

Parameters

data	structure with 3 axis (x,y,z)

float getTemperature

(

void

)

Read on die temperature from the chip

std::string name ( )

inline

Return name of the component

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The documentation for this class was generated from the following files:

• /var/lib/jenkins/workspace/upm-doc-stable/src/mpu9150/mpu9150.h
• /var/lib/jenkins/workspace/upm-doc-stable/src/mpu9150/mpu9150.cxx