Struct mpu9250::Mpu9250

pub struct Mpu9250<DEV, MODE> { /* private fields */ }

MPU9250 driver

Implementations

impl<E, SPI, NCS> Mpu9250<SpiDevice<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, Error<<SpiDevice<SPI, NCS> as Device>::Error>>where D: DelayMs<u8>,

Creates a new Imu driver from a SPI peripheral and a NCS pin with default configuration.

pub fn imu<D>( spi: SPI, ncs: NCS, delay: &mut D, config: &mut MpuConfig<Imu> ) -> Result<Self, Error<<SpiDevice<SPI, NCS> as Device>::Error>>where D: DelayMs<u8>,

Creates a new Imu driver from a SPI peripheral and a NCS pin with provided configuration Config.

pub fn imu_with_reinit<D, F>( spi: SPI, ncs: NCS, delay: &mut D, config: &mut MpuConfig<Imu>, reinit_fn: F ) -> Result<Self, Error<<SpiDevice<SPI, NCS> as Device>::Error>>where D: DelayMs<u8>, F: FnOnce(SPI, NCS) -> Option<(SPI, NCS)>,

Creates a new Imu driver from a SPI peripheral and a NCS pin with provided configuration Config. Reinit function can be used to re-initialize SPI bus. Usecase: change SPI speed for faster data transfer: “Communication with all registers of the device is performed using either I2C at 400kHz or SPI at 1M Hz. For applications requiring faster communications, the sensor and interrupt registers may be read using SPI at 20MHz.”

impl<E, SPI, NCS> Mpu9250<SpiDevice<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, Error<<SpiDevice<SPI, NCS> as Device>::Error>>where D: DelayMs<u8>,

Creates a new Marg driver from a SPI peripheral and a NCS pin with default Config.

pub fn marg<D>( spi: SPI, ncs: NCS, delay: &mut D, config: &mut MpuConfig<Marg> ) -> Result<Self, Error<<SpiDevice<SPI, NCS> as Device>::Error>>where D: DelayMs<u8>,

Creates a new MARG driver from a SPI peripheral and a NCS pin with provided configuration Config.

pub fn marg_with_reinit<D, F>( spi: SPI, ncs: NCS, delay: &mut D, config: &mut MpuConfig<Marg>, reinit_fn: F ) -> Result<Self, Error<<SpiDevice<SPI, NCS> as Device>::Error>>where D: DelayMs<u8>, F: FnOnce(SPI, NCS) -> Option<(SPI, NCS)>,

Creates a new MARG driver from a SPI peripheral and a NCS pin with provided configuration Config. Reinit function can be used to re-initialize SPI bus. Usecase: change SPI speed for faster data transfer: “Communication with all registers of the device is performed using either I2C at 400kHz or SPI at 1M Hz. For applications requiring faster communications, the sensor and interrupt registers may be read using SPI at 20MHz.”

impl<E, SPI, NCS, MODE> Mpu9250<SpiDevice<SPI, NCS>, MODE>where SPI: Write<u8, Error = E> + Transfer<u8, Error = E>, NCS: OutputPin,

pub fn release(self) -> (SPI, NCS)

Destroys the driver recovering the SPI peripheral and the NCS pin

impl<E, DEV> Mpu9250<DEV, Imu>where DEV: Device<Error = E>,

pub fn config(&mut self, config: &mut MpuConfig<Imu>) -> Result<(), E>

Configures device using provided MpuConfig.

pub fn unscaled_all<T>(&mut self) -> Result<UnscaledImuMeasurements<T>, E>where T: From<[i16; 3]>,

Reads and returns raw unscaled Accelerometer + Gyroscope + Thermometer measurements (LSB).

pub fn all<T>(&mut self) -> Result<ImuMeasurements<T>, E>where T: From<[f32; 3]>,

Reads and returns Accelerometer + Gyroscope + Thermometer measurements scaled and converted to respective units.

pub fn calibrate_at_rest<D, T>(&mut self, delay: &mut D) -> Result<T, Error<E>>where D: DelayMs<u8>, T: From<[f32; 3]>,

Calculates the average of the at-rest readings of accelerometer and gyroscope and then loads the resulting biases into gyro offset registers. Retunrs either Ok with accelerometer biases, or Err(Error), where Error::CalibrationError means soft error, and user can proceed on their own risk.

Accelerometer biases should be processed separately.

NOTE: MPU is able to store accelerometer biases, to apply them automatically, but at this moment it does not work.

impl<E, DEV> Mpu9250<DEV, Marg>where DEV: Device<Error = E> + AK8963<Error = E> + NineDOFDevice,

pub fn calibrate_at_rest<D, T>(&mut self, delay: &mut D) -> Result<T, Error<E>>where D: DelayMs<u8>, T: From<[f32; 3]>,

Calculates the average of the at-rest readings of accelerometer and gyroscope and then loads the resulting biases into gyro offset registers. Retunrs either Ok with accelerometer biases, or Err(Error), where Error::CalibrationError means soft error, and user can proceed on their own risk.

Accelerometer biases should be processed separately.

NOTE: MPU is able to store accelerometer biases, to apply them automatically, but at this moment it does not work.

pub fn config(&mut self, config: &mut MpuConfig<Marg>) -> Result<(), E>

Configures device using provided MpuConfig.

pub fn unscaled_all<T>(&mut self) -> Result<UnscaledMargMeasurements<T>, E>where T: From<[i16; 3]>,

Reads and returns raw unscaled Accelerometer + Gyroscope + Thermometer

• Magnetometer measurements (LSB).

pub fn all<T>(&mut self) -> Result<MargMeasurements<T>, E>where T: From<[f32; 3]>,

Reads and returns Accelerometer + Gyroscope + Thermometer + Magnetometer measurements scaled and converted to respective units.

pub fn magnetometer_healthy(&mut self) -> Result<bool, E>

Perform magnetometer self-test

Measure magnetic field generated by internal magnetic source. Note that this would leave device in power-down mode.

pub fn unscaled_mag<T>(&mut self) -> Result<T, E>where T: From<[i16; 3]>,

Reads and returns raw unscaled Magnetometer measurements (LSB).

pub fn mag<T>(&mut self) -> Result<T, E>where T: From<[f32; 3]>,

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

pub fn raw_mag_sensitivity_adjustments<T>(&self) -> Twhere T: From<[u8; 3]>,

Returns raw mag sensitivity adjustments

pub fn mag_sensitivity_adjustments<T>(&self) -> Twhere T: From<[f32; 3]>,

Returns mag sensitivity adjustments

pub fn mag_scale(&mut self, scale: MagScale) -> Result<(), E>

Configures 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, DEV, MODE> Mpu9250<DEV, MODE>where DEV: Device<Error = E>,

pub fn get_enabled_interrupts(&mut self) -> Result<InterruptEnable, E>

Get enabled interrupts

pub fn get_interrupt_status(&mut self) -> Result<InterruptEnable, E>

Get interrupt status

pub fn enable_interrupts(&mut self, ie: InterruptEnable) -> Result<(), E>

Enable specific interrupts

pub fn disable_interrupts(&mut self, ie: InterruptEnable) -> Result<(), E>

Disable specific interrupts

pub fn get_interrupt_config(&mut self) -> Result<InterruptConfig, E>

Get interrupt configurtion

pub fn interrupt_config(&mut self, ic: InterruptConfig) -> Result<(), E>

Overwrites current interrupt configuration

pub fn reset_fifo<D>(&mut self, delay: &mut D) -> Result<(), Error<E>>where D: DelayMs<u8>,

Reset the internal FIFO

pub fn read_fifo(&mut self, data: &mut [u8]) -> Result<isize, Error<E>>

Read internal FIFO into data. The first byte must be discarded. Return the number of byte left in the FIFO.

• If the number is positive, bytes are left in the FIFO
• If the number is negative, only data.len() - 1 - size bytes were avilable and were not read
• If the number is 0, the FIFO is empty and data has been filled fully

pub fn unscaled_accel<T>(&mut self) -> Result<T, E>where T: From<[i16; 3]>,

Reads and returns unscaled accelerometer measurements (LSB).

pub fn accel<T>(&mut self) -> Result<T, E>where T: From<[f32; 3]>,

Reads and returns accelerometer measurements scaled and converted to g.

pub fn unscaled_gyro<T>(&mut self) -> Result<T, E>where T: From<[i16; 3]>,

Reads and returns unsacled Gyroscope measurements (LSB).

pub fn gyro<T>(&mut self) -> Result<T, E>where T: From<[f32; 3]>,

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

pub fn accel_data_rate( &mut self, accel_data_rate: AccelDataRate ) -> Result<(), E>

Configures accelerometer data rate config (AccelDataRate).

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

Configures accelerometer full reading scale (Accel scale).

pub fn gyro_temp_data_rate( &mut self, data_rate: GyroTempDataRate ) -> Result<(), E>

Configures gyroscope and temperatures data rate config (GyroTempDataRate).

pub fn gyro_scale(&mut self, scale: GyroScale) -> Result<(), E>

Configures 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>

Configures 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).

pub fn get_gyro_bias<T>(&mut self) -> Result<T, Error<E>>where T: From<[f32; 3]>,

Get scaled gyroscope biases.

pub fn set_gyro_bias<T>( &mut self, relative: bool, biases: T ) -> Result<(), Error<E>>where T: Into<[f32; 3]>,

Set scaled gyro biases. In relative mode it will add the new biases to the existing ones instead of replacing them.

pub fn get_accel_bias<T>(&mut self) -> Result<T, Error<E>>where T: From<[f32; 3]>,

Get scaled accelerometer biases.

pub fn set_accel_bias<T>( &mut self, relative: bool, biases: T ) -> Result<(), Error<E>>where T: Into<[f32; 3]>,

Set scaled accelerometer biases. Keep in mind that the registers contain factory-supplied values after reset. In relative mode it will add the new biases to the existing ones instead of replacing them.

pub fn who_am_i(&mut self) -> Result<u8, E>

Reads the WHO_AM_I register; should return 0x71

impl<DEV, MODE> Mpu9250<DEV, 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.