Crate mpu9250

no_std driver for the MPU9250 & onboard AK8963 (accelerometer + gyroscope + magnetometer IMU)

Connections

• NCS
• SCL = SCK
• SDA = SDI = MOSI
• AD0 = SDO = MISO

Usage

Use embedded-hal implementation to get SPI, NCS, and delay, then create mpu handle

// to create sensor with mag support and default configuration:
let mut mpu = Mpu9250::marg_default(spi, ncs, &mut delay)?;
// to create sensor without mag support and default configuration:
let mut mpu = Mpu9250::imu_default(spi, ncs, &mut delay)?;
// to get all supported measurements:
let all = mpu.all()?;
println!("{:?}", all);

More examples (for stm32) in [Proving ground] repo.

References

• Product specification

• Register map

• AK8963 specification

• Proving ground

Structs

F32x3	Vector in 3D space
I16x3	XYZ triple of i16
Imu	Accelerometer + Gyroscope + Temperature Sensor
ImuMeasurements	Scaled IMU measurements converted to units
Marg	Magnetometer + Accelerometer + Gyroscope + Temperature Sensor
MargMeasurements	MARG measurements scaled with respective scales and converted to appropriate units.
Mpu9250	MPU9250 driver
UnscaledImuMeasurements	Unscaled IMU measurements (LSB)
UnscaledMargMeasurements	Unscaled MARG measurements (LSB)

Enums

AccelScale	Accelerometer reading full scale configuration, default: +2g.
Dlpf	Digital low pass filter configuration; default: Accelerometer = 41 Hz, Gyroscope: 41 Hz, Temperature sensor = 42 Hz.
GyroScale	Gyroscope reading full scale configuration; default: +250 dps.
MagScale	Gyroscope reading full scale configuration; default: 0.6 mG per LSB

Constants

MODE

SPI mode

Traits

FullScale

Sensor reading scale