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MPU9250 Class Reference
libupm-mpu9150

API for MPU9250 chip (Accelerometer, Gyro and Magnometer Sensor) More...

Detailed Description

This module defines the MPU9250 interface for libmpu9150

mpu9250.jpg
upm::MPU9250 *sensor = new upm::MPU9250();
sensor->init();
while (shouldRun)
{
sensor->update();
float x, y, z;
sensor->getAccelerometer(&x, &y, &z);
cout << "Accelerometer: ";
cout << "AX: " << x << " AY: " << y << " AZ: " << z << endl;
sensor->getGyroscope(&x, &y, &z);
cout << "Gryoscope: ";
cout << "GX: " << x << " GY: " << y << " GZ: " << z << endl;
sensor->getMagnetometer(&x, &y, &z);
cout << "Magnetometer: ";
cout << "MX = " << x << " MY = " << y << " MZ = " << z << endl;
cout << "Temperature: " << sensor->getTemperature() << endl;
cout << endl;
usleep(500000);
}

Public Member Functions

 MPU9250 (int bus=MPU9250_I2C_BUS, int address=MPU9250_DEFAULT_I2C_ADDR, int magAddress=AK8975_DEFAULT_I2C_ADDR, bool enableAk8975=true)
 
 ~MPU9250 ()
 
float getTemperature ()
 
- Public Member Functions inherited from MPU9150
 MPU9150 (int bus=MPU9150_I2C_BUS, int address=MPU9150_DEFAULT_I2C_ADDR, int magAddress=AK8975_DEFAULT_I2C_ADDR, bool enableAk8975=true)
 
 ~MPU9150 ()
 
bool init ()
 
void update ()
 
void getMagnetometer (float *x, float *y, float *z)
 
- Public Member Functions inherited from MPU60X0
 MPU60X0 (int bus=MPU60X0_I2C_BUS, uint8_t address=MPU60X0_DEFAULT_I2C_ADDR)
 
 ~MPU60X0 ()
 
bool init ()
 
void update ()
 
uint8_t readReg (uint8_t reg)
 
void readRegs (uint8_t reg, uint8_t *buffer, int len)
 
bool writeReg (uint8_t reg, uint8_t val)
 
bool setSleep (bool enable)
 
bool setClockSource (CLKSEL_T clk)
 
bool setGyroscopeScale (FS_SEL_T scale)
 
bool setAccelerometerScale (AFS_SEL_T scale)
 
bool setDigitalLowPassFilter (DLPF_CFG_T dlp)
 
bool setSampleRateDivider (uint8_t div)
 
uint8_t getSampleRateDivider ()
 
void getAccelerometer (float *x, float *y, float *z)
 
void getGyroscope (float *x, float *y, float *z)
 
bool enableTemperatureSensor (bool enable)
 
bool setExternalSync (EXT_SYNC_SET_T val)
 
bool enableI2CBypass (bool enable)
 
bool setMotionDetectionThreshold (uint8_t thr)
 
uint8_t getInterruptStatus ()
 
bool setInterruptEnables (uint8_t enables)
 
uint8_t getInterruptEnables ()
 
bool setInterruptPinConfig (uint8_t cfg)
 
uint8_t getInterruptPinConfig ()
 
void installISR (int gpio, mraa::Edge level, void(*isr)(void *), void *arg)
 
void uninstallISR ()
 

Additional Inherited Members

- Public Types inherited from MPU60X0
enum  MPU60X0_REG_T {
  REG_SELF_TEST_X = 0x0d, REG_SELF_TEST_Y = 0x0e, REG_SELF_TEST_Z = 0x0f, REG_SELF_TEST_A = 0x10,
  REG_SMPLRT_DIV = 0x19, REG_CONFIG = 0x1a, REG_GYRO_CONFIG = 0x1b, REG_ACCEL_CONFIG = 0x1c,
  REG_FF_THR = 0x1d, REG_FF_DUR = 0x1e, REG_MOT_THR = 0x1f, REG_MOT_DUR = 0x20,
  REG_ZRMOT_THR = 0x21, REG_ZRMOT_DUR = 0x22, REG_FIFO_EN = 0x23, REG_I2C_MST_CTRL = 0x24,
  REG_I2C_SLV0_ADDR = 0x25, REG_I2C_SLV0_REG = 0x26, REG_I2C_SLV0_CTRL = 0x27, REG_I2C_SLV1_ADDR = 0x28,
  REG_I2C_SLV1_REG = 0x29, REG_I2C_SLV1_CTRL = 0x2a, REG_I2C_SLV2_ADDR = 0x2b, REG_I2C_SLV2_REG = 0x2c,
  REG_I2C_SLV2_CTRL = 0x2d, REG_I2C_SLV3_ADDR = 0x2e, REG_I2C_SLV3_REG = 0x2f, REG_I2C_SLV3_CTRL = 0x30,
  REG_I2C_SLV4_ADDR = 0x31, REG_I2C_SLV4_REG = 0x32, REG_I2C_SLV4_DO = 0x33, REG_I2C_SLV4_CTRL = 0x34,
  REG_I2C_SLV4_DI = 0x35, REG_I2C_MST_STATUS = 0x36, REG_INT_PIN_CFG = 0x37, REG_INT_ENABLE = 0x38,
  REG_INT_STATUS = 0x3a, REG_ACCEL_XOUT_H = 0x3b, REG_ACCEL_XOUT_L = 0x3c, REG_ACCEL_YOUT_H = 0x3d,
  REG_ACCEL_YOUT_L = 0x3e, REG_ACCEL_ZOUT_H = 0x3f, REG_ACCEL_ZOUT_L = 0x40, REG_TEMP_OUT_H = 0x41,
  REG_TEMP_OUT_L = 0x42, REG_GYRO_XOUT_H = 0x43, REG_GYRO_XOUT_L = 0x44, REG_GYRO_YOUT_H = 0x45,
  REG_GYRO_YOUT_L = 0x46, REG_GYRO_ZOUT_H = 0x47, REG_GYRO_ZOUT_L = 0x48, REG_EXT_SENS_DATA_00 = 0x49,
  REG_EXT_SENS_DATA_01 = 0x4a, REG_EXT_SENS_DATA_02 = 0x4b, REG_EXT_SENS_DATA_03 = 0x4c, REG_EXT_SENS_DATA_04 = 0x4d,
  REG_EXT_SENS_DATA_05 = 0x4e, REG_EXT_SENS_DATA_06 = 0x4f, REG_EXT_SENS_DATA_07 = 0x50, REG_EXT_SENS_DATA_08 = 0x51,
  REG_EXT_SENS_DATA_09 = 0x52, REG_EXT_SENS_DATA_10 = 0x53, REG_EXT_SENS_DATA_11 = 0x54, REG_EXT_SENS_DATA_12 = 0x55,
  REG_EXT_SENS_DATA_13 = 0x56, REG_EXT_SENS_DATA_14 = 0x57, REG_EXT_SENS_DATA_15 = 0x58, REG_EXT_SENS_DATA_16 = 0x59,
  REG_EXT_SENS_DATA_17 = 0x5a, REG_EXT_SENS_DATA_18 = 0x5b, REG_EXT_SENS_DATA_19 = 0x5c, REG_EXT_SENS_DATA_20 = 0x5d,
  REG_EXT_SENS_DATA_21 = 0x5e, REG_EXT_SENS_DATA_22 = 0x5f, REG_EXT_SENS_DATA_23 = 0x60, REG_MOT_DETECT_STATUS = 0x61,
  REG_I2C_SLV0_DO = 0x63, REG_I2C_SLV1_DO = 0x64, REG_I2C_SLV2_DO = 0x65, REG_I2C_SLV3_DO = 0x66,
  REG_I2C_MST_DELAY_CTRL = 0x67, REG_SIGNAL_PATH_RESET = 0x68, REG_MOT_DETECT_CTRL = 0x69, REG_USER_CTRL = 0x6a,
  REG_PWR_MGMT_1 = 0x6b, REG_PWR_MGMT_2 = 0x6c, REG_FIFO_COUNTH = 0x72, REG_FIFO_COUNTL = 0x73,
  REG_FIFO_R_W = 0x74, REG_WHO_AM_I = 0x75
}
 
enum  CONFIG_BITS_T {
  CONFIG_DLPF_CFG0 = 0x01, CONFIG_DLPF_CFG1 = 0x02, CONFIG_DLPF_CFG2 = 0x04, _CONFIG_DLPF_SHIFT = 0,
  _CONFIG_DLPF_MASK = 7, CONFIG_EXT_SYNC_SET0 = 0x08, CONFIG_EXT_SYNC_SET1 = 0x10, CONFIG_EXT_SYNC_SET2 = 0x20,
  _CONFIG_EXT_SYNC_SET_SHIFT = 3, _CONFIG_EXT_SYNC_SET_MASK = 7
}
 
enum  DLPF_CFG_T {
  DLPF_260_256 = 0, DLPF_184_188 = 1, DLPF_94_98 = 2, DLPF_44_42 = 3,
  DLPF_21_20 = 4, DLPF_10_10 = 5, DLPF_5_5 = 6, DLPF_RESERVED = 7
}
 
enum  EXT_SYNC_SET_T {
  EXT_SYNC_DISABLED = 0, EXT_SYNC_TEMP_OUT = 1, EXT_SYNC_GYRO_XOUT = 2, EXT_SYNC_GYRO_YOUT = 3,
  EXT_SYNC_GYRO_ZOUT = 4, EXT_SYNC_ACCEL_XOUT = 5, EXT_SYNC_ACCEL_YOUT = 6, EXT_SYNC_ACCEL_ZOUT = 7
}
 
enum  GRYO_CONFIG_BITS_T {
  FS_SEL0 = 0x08, FS_SEL1 = 0x10, _FS_SEL_SHIFT = 3, _FS_SEL_MASK = 3,
  ZG_ST = 0x20, YG_ST = 0x40, XG_ST = 0x80
}
 
enum  FS_SEL_T { FS_250 = 0, FS_500 = 1, FS_1000 = 2, FS_2000 = 3 }
 
enum  ACCEL_CONFIG_BITS_T {
  AFS_SEL0 = 0x08, AFS_SEL1 = 0x10, _AFS_SEL_SHIFT = 3, _AFS_SEL_MASK = 3,
  ZA_ST = 0x20, YA_ST = 0x40, XA_ST = 0x80
}
 
enum  AFS_SEL_T { AFS_2 = 0, AFS_4 = 1, AFS_8 = 2, AFS_16 = 3 }
 
enum  FIFO_EN_BITS_T {
  SLV0_FIFO_EN = 0x01, SLV1_FIFO_EN = 0x02, SLV2_FIFO_EN = 0x04, ACCEL_FIFO_EN = 0x08,
  ZG_FIFO_EN = 0x10, YG_FIFO_EN = 0x20, XG_FIFO_EN = 0x40, TEMP_FIFO_EN = 0x80
}
 
enum  I2C_MST_CTRL_BITS_T {
  I2C_MST_CLK0 = 0x01, I2C_MST_CLK1 = 0x02, I2C_MST_CLK2 = 0x04, I2C_MST_CLK3 = 0x08,
  _I2C_MST_CLK_SHIFT = 0, _I2C_MST_CLK_MASK = 15, I2C_MST_P_NSR = 0x10, SLV_3_FIFO_EN = 0x20,
  WAIT_FOR_ES = 0x40, MULT_MST_EN = 0x80
}
 
enum  I2C_MST_CLK_T {
  MST_CLK_348 = 0, MST_CLK_333 = 1, MST_CLK_320 = 2, MST_CLK_308 = 3,
  MST_CLK_296 = 4, MST_CLK_286 = 5, MST_CLK_276 = 6, MST_CLK_267 = 7,
  MST_CLK_258 = 8, MST_CLK_500 = 9, MST_CLK_471 = 10, MST_CLK_444 = 11,
  MST_CLK_421 = 12, MST_CLK_400 = 13, MST_CLK_381 = 14, MST_CLK_364 = 15
}
 
enum  I2C_SLV_ADDR_BITS_T {
  I2C_SLV_ADDR0 = 0x01, I2C_SLV_ADDR1 = 0x02, I2C_SLV_ADDR2 = 0x04, I2C_SLV_ADDR3 = 0x08,
  I2C_SLV_ADDR4 = 0x10, I2C_SLV_ADDR5 = 0x20, I2C_SLV_ADDR6 = 0x40, _I2C_SLV_ADDR_SHIFT = 0,
  _I2C_SLV_ADDR_MASK = 127, I2C_SLV_RW = 0x80
}
 
enum  I2C_SLV_CTRL_BITS_T {
  I2C_SLV_LEN0 = 0x01, I2C_SLV_LEN1 = 0x02, I2C_SLV_LEN2 = 0x04, I2C_SLV_LEN3 = 0x08,
  _I2C_SLV_LEN_SHIFT = 0, _I2C_SLV_LEN_MASK = 15, I2C_SLV_GRP = 0x10, I2C_SLV_REG_DIS = 0x20,
  I2C_SLV_BYTE_SW = 0x40, I2C_SLV_EN = 0x80
}
 
enum  I2C_SLV4_CTRL_BITS_T {
  I2C_MST_DLY0 = 0x01, I2C_MST_DLY1 = 0x02, I2C_MST_DLY2 = 0x04, I2C_MST_DLY3 = 0x08,
  I2C_MST_DLY4 = 0x10, _I2C_MST_DLY_SHIFT = 0, _I2C_MST_DLY_MASK = 31, I2C_SLV4_REG_DIS = 0x20,
  I2C_SLV4_INT_EN = 0x40, I2C_SLV4_EN = 0x80
}
 
enum  I2C_MST_STATUS_BITS_T {
  I2C_SLV0_NACK = 0x01, I2C_SLV1_NACK = 0x02, I2C_SLV2_NACK = 0x04, I2C_SLV3_NACK = 0x08,
  I2C_SLV4_NACK = 0x10, I2C_LOST_ARB = 0x20, I2C_SLV4_DONE = 0x40, PASS_THROUGH = 0x80
}
 
enum  INT_PIN_CFG_BITS_T {
  CLKOUT_EN = 0x01, I2C_BYPASS_ENABLE = 0x02, FSYNC_INT_EN = 0x04, FSYNC_INT_LEVEL = 0x08,
  INT_RD_CLEAR = 0x10, LATCH_INT_EN = 0x20, INT_OPEN = 0x40, INT_LEVEL = 0x80
}
 
enum  INT_ENABLE_BITS_T {
  DATA_RDY_EN = 0x01, I2C_MST_INT_EN = 0x08, FIFO_OFLOW_EN = 0x10, ZMOT_EN = 0x20,
  MOT_EN = 0x40, FF_EN = 0x80
}
 
enum  INT_STATUS_BITS_T {
  DATA_RDY_INT = 0x01, I2C_MST_INT = 0x08, FIFO_OFLOW_INT = 0x10, ZMOT_INT = 0x20,
  MOT_INT = 0x40, FF_INT = 0x80
}
 
enum  MOT_DETECT_STATUS_BITS_T {
  MOT_ZRMOT = 0x01, MOT_ZPOS = 0x04, MOT_ZNEG = 0x08, MOT_YPOS = 0x10,
  MOT_YNEG = 0x20, MOT_XPOS = 0x40, MOT_XNEG = 0x80
}
 
enum  MST_DELAY_CTRL_BITS_T {
  I2C_SLV0_DLY_EN = 0x01, I2C_SLV1_DLY_EN = 0x02, I2C_SLV2_DLY_EN = 0x04, I2C_SLV3_DLY_EN = 0x08,
  I2C_SLV4_DLY_EN = 0x10, DELAY_ES_SHADOW = 0x80
}
 
enum  SIGNAL_PATH_RESET_BITS_T { TEMP_RESET = 0x01, ACCEL_RESET = 0x02, GYRO_RESET = 0x04 }
 
enum  MOT_DETECT_CTRL_BITS_T {
  MOT_COUNT0 = 0x01, MOT_COUNT1 = 0x02, _MOT_COUNT_SHIFT = 0, _MOT_COUNT_MASK = 3,
  FF_COUNT0 = 0x04, FF_COUNT1 = 0x08, _FF_COUNT_SHIFT = 2, _FF_COUNT_MASK = 3,
  ACCEL_ON_DELAY0 = 0x10, ACCEL_ON_DELAY1 = 0x20, _ACCEL_ON_DELAY_SHIFT = 4, _ACCEL_ON_DELAY_MASK = 3
}
 
enum  MOT_FF_COUNT_T { COUNT_0 = 0, COUNT_1 = 1, COUNT_2 = 2, COUNT_4 = 3 }
 
enum  ACCEL_ON_DELAY_T { ON_DELAY_0 = 0, ON_DELAY_1 = 1, ON_DELAY_2 = 2, ON_DELAY_3 = 3 }
 
enum  USER_CTRL_BITS_T {
  SIG_COND_RESET = 0x01, I2C_MST_RESET = 0x02, FIFO_RESET = 0x04, I2C_IF_DIS = 0x10,
  I2C_MST_EN = 0x20, FIFO_EN = 0x40
}
 
enum  PWR_MGMT_1_BITS_T {
  CLKSEL0 = 0x01, CLKSEL1 = 0x02, CLKSEL2 = 0x04, _CLKSEL_SHIFT = 0,
  _CLKSEL_MASK = 7, TEMP_DIS = 0x08, PWR_CYCLE = 0x20, PWR_SLEEP = 0x40,
  DEVICE_RESET = 0x80
}
 
enum  CLKSEL_T {
  INT_8MHZ = 0, PLL_XG = 1, PLL_YG = 2, PLL_ZG = 3,
  PLL_EXT_32KHZ = 4, PLL_EXT_19MHZ = 5, CLK_STOP = 7
}
 
enum  PWR_MGMT_2_BITS_T {
  STBY_ZG = 0x01, STBY_YG = 0x02, STBY_XG = 0x04, STBY_ZA = 0x08,
  STBY_YA = 0x10, STBY_XA = 0x20, LP_WAKE_CTRL0 = 0x40, LP_WAKE_CTRL1 = 0x80,
  _LP_WAKE_CTRL_SHIFT = 6, _LP_WAKE_CTRL_MASK = 3
}
 
enum  LP_WAKE_CRTL_T { LP_WAKE_1_25 = 0, LP_WAKE_5 = 1, LP_WAKE_20 = 2, LP_WAKE_40 = 3 }
 
- Protected Attributes inherited from MPU9150
AK8975 * m_mag
 
- Protected Attributes inherited from MPU60X0
float m_accelX
 
float m_accelY
 
float m_accelZ
 
float m_gyroX
 
float m_gyroY
 
float m_gyroZ
 
float m_temp
 
float m_accelScale
 
float m_gyroScale
 

Constructor & Destructor Documentation

MPU9250 ( int  bus = MPU9250_I2C_BUS,
int  address = MPU9250_DEFAULT_I2C_ADDR,
int  magAddress = AK8975_DEFAULT_I2C_ADDR,
bool  enableAk8975 = true 
)

MPU9250 constructor

Parameters
busI2C bus to use
addressThe address for this device
magAddressThe address of the connected magnetometer
enableAk8975Enables i2c bypass mode for magnetometer, default is true
~MPU9250 ( )

MPU9250 destructor

Member Function Documentation

float getTemperature ( void  )
virtual

get the temperature value

Returns
the temperature value in degrees Celcius

Reimplemented from MPU60X0.

Inheritance diagram for MPU9250:
Inheritance graph
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Collaboration diagram for MPU9250:
Collaboration graph
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The documentation for this class was generated from the following files:
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