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
- Dmp configuration
- Dmp features to enable, default with raw gyro and accel and 6 axes quaternion
- 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
- An I2C device. Use I2CDevice when the MPU9250 is connected via I2C
- Accelerometer + Gyroscope + Temperature Sensor
- Scaled IMU measurements converted to units
- Interrupt configuration Defaults: active high, push-pull, 50 us pulse, cleared only by reading INT_STATUS
- Enable interrupt for:
- Magnetometer + Accelerometer + Gyroscope + Temperature Sensor
- MARG measurements scaled with respective scales and converted to appropriate units.
- MPU9250 driver
- Configuration of MPU9250
- A SPI device. Use a SPI device when the MPU9250 is connected via SPI
- 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
- Unscaled IMU measurements (LSB)
- Unscaled MARG measurements (LSB)
Enums
- 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. - Accelerometer reading full scale configuration, default: +2g.
- Digital low pass filter configuration; default: _0;
- Dmp data output rate, default 100Hz
- MPU Error
- Gyroscope reading full scale configuration; default: +250 dps.
- 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. - I2C Error
- Gyroscope reading full scale configuration; default: 0.6 mG per LSB
- Suported MPUx devices
- DMP base orienatation, default Z axe pointing up
- SPI Error
Constants
- G constant
- SPI mode
Traits
- An MPU communication device abstraction
- The trait describes how to aquire 9 degrees-of-freedom measurements (plug a temperature reading) from an MPU