Crate mpu9250

source ·
Expand description

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);
// One can also use conf module to supply configuration:
let mut mpu =
    Mpu9250::marg(spi,
                  ncs,
                  &mut delay,
                  MpuConfig::marg().mag_scale(conf::MagScale::_14BITS))?;

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

References

Structs

  • DmpConfiguration
    Dmp configuration
  • DmpFeatures
    Dmp features to enable, default with raw gyro and accel and 6 axes quaternion
  • DmpMeasurement
    DMP measurement scaled with respective scales and converted to appropriate units. Each measurement will be present only if the corresponding features is activated in dmp features
  • I2cDevice
    An I2C device. Use I2CDevice when the MPU9250 is connected via I2C
  • Imu
    Accelerometer + Gyroscope + Temperature Sensor
  • ImuMeasurements
    Scaled IMU measurements converted to units
  • InterruptConfig
    Interrupt configuration Defaults: active high, push-pull, 50 us pulse, cleared only by reading INT_STATUS
  • InterruptEnable
    Enable interrupt for:
  • Marg
    Magnetometer + Accelerometer + Gyroscope + Temperature Sensor
  • MargMeasurements
    MARG measurements scaled with respective scales and converted to appropriate units.
  • Mpu9250
    MPU9250 driver
  • MpuConfig
    Configuration of MPU9250
  • SpiDevice
    A SPI device. Use a SPI device when the MPU9250 is connected via SPI
  • UnscaledDmpMeasurement
    DMP measurement scaled with respective scales and converted to appropriate units. Each measurement will be present only if the corresponding features is activated in dmp features
  • UnscaledImuMeasurements
    Unscaled IMU measurements (LSB)
  • UnscaledMargMeasurements
    Unscaled MARG measurements (LSB)

Enums

  • AccelDataRate
    Controls the accelerometer data rate and bandwidth. Can be either set to FChoice, or to one of the 8 digital low pass filter modes. If the DLPF mode is used rate and bandwith can be further tweaked by Sample Rate Divisor. See page 13 of [Register map] for details. Noise Density for all values is 300 μg/rtHz. Default is dlpf with default dlpf mode.
  • AccelScale
    Accelerometer reading full scale configuration, default: +2g.
  • Dlpf
    Digital low pass filter configuration; default: _0;
  • DmpRate
    Dmp data output rate, default 100Hz
  • Error
    MPU Error
  • GyroScale
    Gyroscope reading full scale configuration; default: +250 dps.
  • GyroTempDataRate
    Controls the gyroscope and temperature sensor data rates and bandwidth. Can be either set to one of two FChoices, or to one of the 8 digital low pass filter modes. If the DLPF mode is used rate and bandwith can be further tweaked by Sample Rate Divisor. See page 13 of [Register map] for details. Default is dlpf with default dlpf mode.
  • I2CError
    I2C Error
  • MagScale
    Gyroscope reading full scale configuration; default: 0.6 mG per LSB
  • MpuXDevice
    Suported MPUx devices
  • Orientation
    DMP base orienatation, default Z axe pointing up
  • SpiError
    SPI Error

Constants

Traits

  • Device
    An MPU communication device abstraction
  • NineDOFDevice
    The trait describes how to aquire 9 degrees-of-freedom measurements (plug a temperature reading) from an MPU