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, E> where     D: DelayMs<u8>,

Creates a new Imu driver from a SPI peripheral and a NCS pin with default Accel scale, Gyro scale, DLPF, 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>,     digital_low_pass_filter_mode: Option<Dlpf>,     sample_rate_divisor: Option<u8> ) -> Result<Self, 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, DLPF, 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, 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, DLPF, and with 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>,     dlpf: Option<Dlpf>,     smplrt_div: Option<u8> ) -> Result<Self, 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, DLPF, and sample rate divisor.

pub fn all_unscaled(&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<I16x3, E>

Reads and returns raw unscaled Magnetometer measurements (LSB).

pub fn mag(&mut self) -> Result<F32x3, E>

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

pub fn raw_mag_sensitivity_adjustments(&self) -> [u8; 3]

Returns raw mag sensitivity adjustments

pub fn mag_sensitivity_adjustments(&self) -> F32x3

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<I16x3, E>

Reads and returns unscaled accelerometer measurements (LSB).

pub fn accel(&mut self) -> Result<F32x3, E>

Reads and returns accelerometer measurements scaled and converted to g.

pub fn accel_filter(&mut self, dlpf: Dlpf) -> Result<(), E>

Applies a digital low pass filter to the accelerometer data (Dlpf).

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

Sets accelerometer full reading scale (Accel scale).

pub fn unscaled_gyro(&mut self) -> Result<I16x3, E>

Reads and returns unsacled Gyroscope measurements (LSB).

pub fn gyro(&mut self) -> Result<F32x3, E>

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

pub fn gyro_filter(&mut self, dlpf: Dlpf) -> Result<(), E>

Applies a digital low pass filter to the gyroscope data (Dlpf).

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>

Clears Fchoice bits and sets rate divisor (SMPLRT_DIV).

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.