Crate mpu9250

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

Product specification

Register map

AK8963 specification

Proving ground

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§

G: G constant
MODE: SPI mode

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

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