Device driver interface for the MPU-9X50 (MPU9150 and MPU9250) More...

Detailed Description

Device driver interface for the MPU-9X50 (MPU9150 and MPU9250)

Author: Fabian Nack nack@.nosp@m.inf..nosp@m.fu-be.nosp@m.rlin.nosp@m..de; Jannes Volkens janne.nosp@m.s.vo.nosp@m.lkens.nosp@m.@haw.nosp@m.-hamb.nosp@m.urg..nosp@m.de

Definition in file mpu9x50.h.

#include "periph/i2c.h"

Include dependency graph for mpu9x50.h:

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Data Structures
struct	mpu9x50_results_t
	MPU-9X50 result vector struct. More...

struct	mpu9x50_status_t
	Configuration struct for the MPU-9X50 sensor. More...

struct	mpu9x50_params_t
	Device initialization parameters. More...

struct	mpu9x50_t
	Device descriptor for the MPU9X50 sensor. More...

Enumerations
enum	mpu9x50_pwr_t { MPU9X50_SENSOR_PWR_OFF = 0x00 , MPU9X50_SENSOR_PWR_ON = 0x01 }
	Power enum values. More...

enum	mpu9x50_hw_addr_t { MPU9X50_HW_ADDR_HEX_68 = 0x68 , MPU9X50_HW_ADDR_HEX_69 = 0x69 }
	Possible MPU-9X50 hardware addresses (wiring specific) More...

enum	mpu9x50_comp_addr_t { MPU9X50_COMP_ADDR_HEX_0C = 0x0C , MPU9X50_COMP_ADDR_HEX_0D = 0x0D , MPU9X50_COMP_ADDR_HEX_0E = 0x0E , MPU9X50_COMP_ADDR_HEX_0F = 0x0F }
	Possible compass addresses (wiring specific) More...

enum	mpu9x50_gyro_ranges_t { MPU9X50_GYRO_FSR_250DPS = 0x00 , MPU9X50_GYRO_FSR_500DPS = 0x01 , MPU9X50_GYRO_FSR_1000DPS = 0x02 , MPU9X50_GYRO_FSR_2000DPS = 0x03 }
	Possible full scale ranges for the gyroscope. More...

enum	mpu9x50_accel_ranges_t { MPU9X50_ACCEL_FSR_2G = 0x00 , MPU9X50_ACCEL_FSR_4G = 0x01 , MPU9X50_ACCEL_FSR_8G = 0x02 , MPU9X50_ACCEL_FSR_16G = 0x03 }
	Possible full scale ranges for the accelerometer. More...

enum	mpu9x50_lpf_t { MPU9X50_FILTER_188HZ = 0x01 , MPU9X50_FILTER_98HZ = 0x02 , MPU9X50_FILTER_42HZ = 0x03 , MPU9X50_FILTER_20HZ = 0x04 , MPU9X50_FILTER_10HZ = 0x05 , MPU9X50_FILTER_5HZ = 0x06 }
	Possible low pass filter values. More...

Functions
int	mpu9x50_init (mpu9x50_t dev, const mpu9x50_params_t params)
	Initialize the given MPU9X50 device.

int	mpu9x50_set_accel_power (mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
	Enable or disable accelerometer power.

int	mpu9x50_set_gyro_power (mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
	Enable or disable gyroscope power.

int	mpu9x50_set_compass_power (mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
	Enable or disable compass power.

int	mpu9x50_read_gyro (const mpu9x50_t dev, mpu9x50_results_t output)
	Read angular speed values from the given MPU9X50 device, returned in dps.

int	mpu9x50_read_accel (const mpu9x50_t dev, mpu9x50_results_t output)
	Read acceleration values from the given MPU9X50 device, returned in mG.

int	mpu9x50_read_compass (const mpu9x50_t dev, mpu9x50_results_t output)
	Read magnetic field values from the given MPU9X50 device, returned in mikroT.

int	mpu9x50_read_temperature (const mpu9x50_t dev, int32_t output)
	Read temperature value from the given MPU9X50 device, returned in m°C.

int	mpu9x50_set_gyro_fsr (mpu9x50_t *dev, mpu9x50_gyro_ranges_t fsr)
	Set the full-scale range for raw gyroscope data.

int	mpu9x50_set_accel_fsr (mpu9x50_t *dev, mpu9x50_accel_ranges_t fsr)
	Set the full-scale range for raw accelerometer data.

int	mpu9x50_set_sample_rate (mpu9x50_t *dev, uint16_t rate)
	Set the rate at which the gyroscope and accelerometer data is sampled.

int	mpu9x50_set_compass_sample_rate (mpu9x50_t *dev, uint8_t rate)
	Set the rate at which the compass data is sampled.

Sample rate macro definitions
#define	MPU9X50_MIN_SAMPLE_RATE (4)

#define	MPU9X50_MAX_SAMPLE_RATE (1000)

#define	MPU9X50_DEFAULT_SAMPLE_RATE (50)

#define	MPU9X50_MIN_COMP_SMPL_RATE (1)

#define	MPU9X50_MAX_COMP_SMPL_RATE (100)

Data Structures