MPU9150 Class Reference

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

Detailed Description

• ID: mpu9150
• Name: MPU9150 Inertial Measurement Unit
• Other Names: Grove IMU 9DOF
• Category: accelerometer compass
• Manufacturer: seeed
• Link: http://www.seeedstudio.com/wiki/Grove_-_IMU_9DOF_v1.0
• Connection: i2c gpio

This module defines the MPU9150 interface for libmpu9150

        upm_mpu9150.MPU9150 sensor = new upm_mpu9150.MPU9150();

        sensor.init();

        while (true) {
            sensor.update();

            float[] accel = sensor.getAccelerometer();
            System.out.println("Accelerometer: " + "AX: " + accel[0] + " AY: " + accel[1] + " AZ: "
                    + accel[2]);

            float[] gyro = sensor.getGyroscope();
            System.out.println("Gryoscope: " + "GX: " + gyro[0] + " GY: " + gyro[1] + " GZ: "
                    + gyro[2]);

            float[] magn = sensor.getMagnetometer();
            System.out.println("Magnetometer: " + "MX: " + magn[0] + " MY: " + magn[1] + " MZ: "
                    + magn[2]);

            Thread.sleep(1000);
        }

Public Member Functions
synchronized void	delete ()
	MPU9150 (int bus, int address, int magAddress, boolean enableAk8975)
	MPU9150 (int bus, int address, int magAddress)
	MPU9150 (int bus, int address)
	MPU9150 (int bus)
boolean	init ()
void	update ()
float[]	getMagnetometer ()
Public Member Functions inherited from MPU60X0
synchronized void	delete ()
	MPU60X0 (int bus, short address)
	MPU60X0 (int bus)
boolean	init ()
void	update ()
short	readReg (short reg)
void	readRegs (short reg, byte[] buffer)
boolean	writeReg (short reg, short val)
boolean	setSleep (boolean enable)
boolean	setClockSource (MPU60X0.CLKSEL_T clk)
boolean	setGyroscopeScale (MPU60X0.FS_SEL_T scale)
boolean	setAccelerometerScale (MPU60X0.AFS_SEL_T scale)
boolean	setDigitalLowPassFilter (MPU60X0.DLPF_CFG_T dlp)
boolean	setSampleRateDivider (short div)
short	getSampleRateDivider ()
float[]	getAccelerometer ()
float[]	getGyroscope ()
float	getTemperature ()
boolean	enableTemperatureSensor (boolean enable)
boolean	setExternalSync (MPU60X0.EXT_SYNC_SET_T val)
boolean	enableI2CBypass (boolean enable)
boolean	setMotionDetectionThreshold (short thr)
short	getInterruptStatus ()
boolean	setInterruptEnables (short enables)
short	getInterruptEnables ()
boolean	setInterruptPinConfig (short cfg)
short	getInterruptPinConfig ()
void	installISR (int gpio, int level, IsrCallback cb)
void	uninstallISR ()

Constructor & Destructor Documentation

MPU9150	(	int	bus,
		int	address,
		int	magAddress,
		boolean	enableAk8975
	)

MPU9150 constructor

Parameters

bus	I2C bus to use
address	The address for this device
magAddress	The address of the connected magnetometer
enableAk8975	Enables i2c bypass mode for magnetometer, default is true

Member Function Documentation

float [] getMagnetometer

(

)

Return the compensated values for the x, y, and z axes. The unit of measurement is in micro-teslas (uT).

Returns

Array containing X, Y, Z magnetometer values

boolean init

(

)

Set up initial values and start operation

Returns

true if successful

void update

(

)

Take a measurement and store the current sensor values internally. Note, these user facing registers are only updated from the internal device sensor values when the i2c serial traffic is 'idle'. So, if you are reading the values too fast, the bus may never be idle, and you will just end up reading the same values over and over.

Unfortunately, it is is not clear how long 'idle' actually means, so if you see this behavior, reduce the rate at which you are calling update().

Inheritance diagram for MPU9150:

Collaboration diagram for MPU9150:

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

• /var/lib/jenkins/workspace/upm-doc-stable/build-33/src/mpu9150/MPU9150.java