Struct mpu9250::MpuConfig

pub struct MpuConfig<MODE> { /* fields omitted */ }

Configuration of MPU9250

Methods

impl MpuConfig<Imu>

pub fn imu() -> Self

Creates configuration for [Imu] driver (accelerometer + gyroscope). with default Accel scale, Gyro scale, [Mag scale], AccelDataRate, GyroTempDataRate, and no sample rate divisor.

impl MpuConfig<Marg>

pub fn marg() -> Self

Creates configuration for [Marg] driver (accelerometer + gyroscope + magnetometer) with default Accel scale, Gyro scale, Mag scale, AccelDataRate, GyroTempDataRate, and no sample rate divisor.

impl<MODE> MpuConfig<MODE>

pub fn gyro_scale(&mut self, scale: GyroScale) -> &mut Self

Sets gyroscope full reading scale (Gyro scale).

pub fn accel_scale(&mut self, scale: AccelScale) -> &mut Self

Sets accelerometer full reading scale (Accel scale).

pub fn accel_data_rate(&mut self, data_rate: AccelDataRate) -> &mut Self

Sets accelerometer data rate config (AccelDataRate).

pub fn gyro_temp_data_rate(&mut self, data_rate: GyroTempDataRate) -> &mut Self

Sets gyroscope and temperatures data rate config (GyroTempDataRate).

pub fn sample_rate_divisor(&mut self, smplrt_div: u8) -> &mut Self

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 GyroTempDataRate see GyroTempDataRate. SampleRate = InternalSampleRate / (1 + SMPLRT_DIV).

impl MpuConfig<Marg>

pub fn mag_scale(&mut self, scale: MagScale) -> &mut Self

Sets magnetrometer full reading scale (MagScale)

Trait Implementations

impl<MODE: Debug> Debug for MpuConfig<MODE>

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.

impl<MODE: Copy> Copy for MpuConfig<MODE>

impl<MODE: Clone> Clone for MpuConfig<MODE>

fn clone(&self) -> MpuConfig<MODE>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.