Struct mpu9250::Mpu9250

pub struct Mpu9250<SPI, NCS, MODE> { /* fields omitted */ }

MPU9250 driver

Methods

impl<E, SPI, NCS> Mpu9250<SPI, NCS, Imu> where     SPI: Write<u8, Error = E> + Transfer<u8, Error = E>,     NCS: OutputPin,

pub fn imu_default<D>(     spi: SPI,     ncs: NCS,     delay: &mut D ) -> Result<Self, Error<E>> where     D: DelayMs<u8>,

Creates a new Imu driver from a SPI peripheral and a NCS pin with default Accel scale, Gyro scale, AccelDataRateConfig, GyroTempDataRateConfig, and with no sample rate divisor.

pub fn imu<D>(     spi: SPI,     ncs: NCS,     delay: &mut D,     gyro_scale: Option<GyroScale>,     accel_scale: Option<AccelScale>,     accel_data_rate_config: Option<AccelDataRateConfig>,     gyro_temp_data_rate_config: Option<GyroTempDataRateConfig>,     sample_rate_divisor: Option<u8> ) -> Result<Self, Error<E>> where     D: DelayMs<u8>,

Creates a new Imu driver from a SPI peripheral and a NCS pin with optionally configured Accel scale, Gyro scale, AccelDataRateConfig, GyroTempDataRateConfig, and sample rate divisor.

pub fn unscaled_all(&mut self) -> Result<UnscaledImuMeasurements, E>

Reads and returns raw unscaled Accelerometer + Gyroscope + Thermometer measurements (LSB).

pub fn all(&mut self) -> Result<ImuMeasurements, E>

Reads and returns Accelerometer + Gyroscope + Thermometer measurements scaled and converted to respective units.

impl<E, SPI, NCS> Mpu9250<SPI, NCS, Marg> where     SPI: Write<u8, Error = E> + Transfer<u8, Error = E>,     NCS: OutputPin,

pub fn marg_default<D>(     spi: SPI,     ncs: NCS,     delay: &mut D ) -> Result<Self, Error<E>> where     D: DelayMs<u8>,

Creates a new Marg driver from a SPI peripheral and a NCS pin with default Accel scale, Gyro scale, Mag scale, AccelDataRateConfig, GyroTempDataRateConfig, and no sample rate divisor.

pub fn marg<D>(     spi: SPI,     ncs: NCS,     delay: &mut D,     gyro_scale: Option<GyroScale>,     accel_scale: Option<AccelScale>,     mag_scale: Option<MagScale>,     accel_data_rate_config: Option<AccelDataRateConfig>,     gyro_temp_data_rate_config: Option<GyroTempDataRateConfig>,     sample_rate_divisor: Option<u8> ) -> Result<Self, Error<E>> where     D: DelayMs<u8>,

Creates a new MARG driver from a SPI peripheral and a NCS pin with optionally configured Accel scale, Gyro scale, Mag scale, AccelDataRateConfig, GyroTempDataRateConfig, and sample rate divisor.

pub fn unscaled_all(&mut self) -> Result<UnscaledMargMeasurements, E>

Reads and returns raw unscaled Accelerometer + Gyroscope + Thermometer

• Magnetometer measurements (LSB).

pub fn all(&mut self) -> Result<MargMeasurements, E>

Reads and returns Accelerometer + Gyroscope + Thermometer + Magnetometer measurements scaled and converted to respective units.

pub fn unscaled_mag(&mut self) -> Result<Vector3<i16>, E>

Reads and returns raw unscaled Magnetometer measurements (LSB).

pub fn mag(&mut self) -> Result<Vector3<f32>, E>

Read and returns Magnetometer measurements scaled, adjusted for factory sensitivities, and converted to Teslas.

pub fn raw_mag_sensitivity_adjustments(&self) -> Vector3<u8>

Returns raw mag sensitivity adjustments

pub fn mag_sensitivity_adjustments(&self) -> Vector3<f32>

Returns mag sensitivity adjustments

pub fn mag_scale(&mut self, scale: MagScale) -> Result<(), E>

Sets magnetrometer full reading scale (MagScale)

pub fn ak8963_who_am_i(&mut self) -> Result<u8, E>

Reads the AK8963 (magnetometer) WHO_AM_I register; should return 0x48

impl<E, SPI, NCS, MODE> Mpu9250<SPI, NCS, MODE> where     SPI: Write<u8, Error = E> + Transfer<u8, Error = E>,     NCS: OutputPin,

pub fn unscaled_accel(&mut self) -> Result<Vector3<i16>, E>

Reads and returns unscaled accelerometer measurements (LSB).

pub fn accel(&mut self) -> Result<Vector3<f32>, E>

Reads and returns accelerometer measurements scaled and converted to g.

pub fn unscaled_gyro(&mut self) -> Result<Vector3<i16>, E>

Reads and returns unsacled Gyroscope measurements (LSB).

pub fn gyro(&mut self) -> Result<Vector3<f32>, E>

Reads and returns gyroscope measurements scaled and converted to rad/s.

pub fn accel_config(     &mut self,     accel_config: AccelDataRateConfig ) -> Result<(), E>

Sets accelerometer data rate config (AccelDataRateConfig).

pub fn accel_scale(&mut self, scale: AccelScale) -> Result<(), E>

Sets accelerometer full reading scale (Accel scale).

pub fn gyro_temp_config(     &mut self,     gyro_temp_config: GyroTempDataRateConfig ) -> Result<(), E>

Sets gyroscope and temperatures data rate config (GyroTempDataRateConfig).

pub fn gyro_scale(&mut self, scale: GyroScale) -> Result<(), E>

Sets gyroscope full reading scale (Gyro scale).

pub fn raw_temp(&mut self) -> Result<i16, E>

Reads and returns raw unscaled temperature sensor measurements (LSB).

pub fn temp(&mut self) -> Result<f32, E>

Reads and returns adjusted temperature measurements converted to C.

pub fn sample_rate_divisor(&mut self, smplrt_div: u8) -> Result<(), E>

Sets sample rate divisor. Sample rate divisor divides the internal sample rate to generate the sample rate that controls sensor data output rate, FIFO sample rate. NOTE: This register is only effective when dlpf mode used for GyroTempDataRateConfig see GyroTempDataRateConfig. SampleRate = InternalSampleRate / (1 + SMPLRT_DIV).

pub fn calibrate_at_rest<D>(&mut self, delay: &mut D) -> Result<(), E> where     D: DelayMs<u8>,

Calculates the average of the at-rest readings of accelerometer and gyroscope and then loads the resulting offsets into accelerometer and gyro bias registers.

pub fn release(self) -> (SPI, NCS)

Destroys the driver recovering the SPI peripheral and the NCS pin

pub fn who_am_i(&mut self) -> Result<u8, E>

Reads the WHO_AM_I register; should return 0x71

impl<SPI, NCS, MODE> Mpu9250<SPI, NCS, MODE>

pub fn accel_resolution(&self) -> f32

Returns Accelerometer resolution.

pub fn gyro_resolution(&self) -> f32

Returns Gyroscope resolution.

pub fn mag_resolution(&self) -> f32

Returns Magnetometer resolution.