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)

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