Mpu_9250 Class Reference

Driver for sensor MPU 9250. More...

#include <mpu_9250.hpp>

Inheritance diagram for Mpu_9250:

Collaboration diagram for Mpu_9250:

List of all members.

Classes
struct	conf_t
	Configuration structure for mpu 9250. More...
Public Types
enum	acc_filter_t {   ACC_LOWPASS_460_HZ = 0x00, ACC_LOWPASS_184_HZ = 0x01, ACC_LOWPASS_92_HZ = 0x02, ACC_LOWPASS_41_HZ = 0x03,   ACC_LOWPASS_20_HZ = 0x04, ACC_LOWPASS_10_HZ = 0x05, ACC_LOWPASS_5_HZ = 0x06 }
enum	acc_range_t { ACC_2G = 0x00, ACC_4G = 0x08, ACC_8G = 0x10, ACC_16G = 0x18 }
enum	gyro_filter_t {   GYRO_LOWPASS_250_HZ = 0x00, GYRO_LOWPASS_184_HZ = 0x01, GYRO_LOWPASS_92_HZ = 0x02, GYRO_LOWPASS_41_HZ = 0x03,   GYRO_LOWPASS_20_HZ = 0x04, GYRO_LOWPASS_10_HZ = 0x05, GYRO_LOWPASS_5_HZ = 0x06 }
enum	gyro_range_t { GYRO_250_DEG = 0x00, GYRO_500_DEG = 0x08, GYRO_1000_DEG = 0x10, GYRO_2000_DEG = 0x18 }
Public Member Functions
	Mpu_9250 (Spi &spi, Gpio &nss_gpio, const conf_t config=mpu_9250_default_config())
	Constructor.
bool	init (void)
	Initialise the sensor.
bool	update_acc (void)
	Main update function.
bool	update_gyr (void)
bool	update_mag (void)
const float &	last_update_us (void) const
	Get last update time in microseconds.
const std::array< float, 3 > &	gyro (void) const
	Get X, Y and Z components of angular velocity.
const float &	gyro_X (void) const
	Get X component of angular velocity.
const float &	gyro_Y (void) const
	Get Y component of angular velocity.
const float &	gyro_Z (void) const
	Get Z component of angular velocity.
const std::array< float, 3 > &	acc (void) const
	Get X, Y and Z components of acceleration.
const float &	acc_X (void) const
	Get X component of acceleration.
const float &	acc_Y (void) const
	Get Y component of acceleration.
const float &	acc_Z (void) const
	Get Z component of acceleration.
const std::array< float, 3 > &	mag (void) const
	Get X, Y and Z components of magnetic field.
const float &	mag_X (void) const
	Get X component of magnetic field.
const float &	mag_Y (void) const
	Get Y component of magnetic field.
const float &	mag_Z (void) const
	Get Z component of magnetic field.
const float &	temperature (void) const
	Get sensor temperature.
bool	mpu_reset (void)
	Reset acc and gyro.
bool	mag_reset (void)
	Reset magnetometer.
bool	mag_read_reg (uint8_t reg, uint8_t *in_data)
	Read register from magnetometer.
bool	mag_write_reg (uint8_t reg, uint8_t *out_data)
	Write values in register of ak8963.
bool	write_reg (uint8_t reg, uint8_t *out_data, uint32_t nbytes=1)
	Write register of mpu 9250.
bool	read_reg (uint8_t reg, uint8_t *in_data, uint32_t nbytes=1)
	Read register of mpu 9250.
Static Public Member Functions
static conf_t	mpu_9250_default_config ()
	Default configuration for mpu 9250.
Static Public Attributes
static const uint8_t	AK8963_WHOAMI_REG = 0x00
static const uint8_t	AK8963_ST1_REG = 0x02
static const uint8_t	AK8963_HXL = 0x03
static const uint8_t	AK8963_ST2_REG = 0x09
static const uint8_t	AK8963_CNTL1_CONT_8HZ = 0x02
static const uint8_t	AK8963_CNTL1_CONT_100HZ = 0x06
static const uint8_t	AK8963_CNTL1_16BITS = 0x10
static const uint8_t	AK8963_CNTL1_REG = 0x0A
static const uint8_t	AK8963_CNTL2_REG = 0x0B
static const uint8_t	AK8963_CNTL2_SRST = 0x01
static const uint8_t	AK8963_WHOAMI_ID = 0x48
static const uint8_t	AK8963_ADDR = 0x0C
static const uint8_t	SMPLRT_DIV_REG = 0x19
static const uint8_t	DLPF_CFG_REG = 0x1A
static const uint8_t	GYRO_CFG_REG = 0x1B
static const uint8_t	ACCEL_CFG_REG = 0x1C
static const uint8_t	ACCEL_CFG2_REG = 0x1D
static const uint8_t	SLV0_ADDR_REG = 0x25
static const uint8_t	SLV0_REG_REG = 0x26
static const uint8_t	SLV0_CTRL_REG = 0x27
static const uint8_t	SLV4_ADDR_REG = 0x31
static const uint8_t	SLV4_REG_REG = 0x32
static const uint8_t	SLV4_DO_REG = 0x33
static const uint8_t	SLV4_CTRL_REG = 0x34
static const uint8_t	SLV4_DI_REG = 0x35
static const uint8_t	I2C_MST_STATUS_REG = 0x36
static const uint8_t	ACCEL_X_OUT_MSB = 0x3B
static const uint8_t	ACCEL_X_OUT_LSB = 0x3C
static const uint8_t	ACCEL_Y_OUT_MSB = 0x3D
static const uint8_t	ACCEL_Y_OUT_LSB = 0x3E
static const uint8_t	ACCEL_Z_OUT_MSB = 0x3F
static const uint8_t	ACCEL_Z_OUT_LSB = 0x40
static const uint8_t	GYRO_X_OUT_MSB = 0x43
static const uint8_t	GYRO_X_OUT_LSB = 0x44
static const uint8_t	GYRO_Y_OUT_MSB = 0x45
static const uint8_t	GYRO_Y_OUT_LSB = 0x46
static const uint8_t	GYRO_Z_OUT_MSB = 0x47
static const uint8_t	GYRO_Z_OUT_LSB = 0x48
static const uint8_t	EXT_SENS_DATA_00 = 0x49
static const uint8_t	USER_CTRL_REG = 0x6A
static const uint8_t	PWR_MGMT_REG = 0x6B
static const uint8_t	WHOAMI_REG = 0x75
static const uint8_t	READ_FLAG = 0x80
static const uint8_t	WRITE_FLAG = 0x7f
static const uint8_t	WHOAMI_ID = 0x71
static const uint8_t	I2C_MST_SLV4_NACK = 0x10
static const uint8_t	I2C_MST_SLV4_DONE = 0x40
static const uint8_t	I2CSLV_EN = 0x80
static const uint8_t	PWRMGMT_IMU_RST = 0x80
static const uint8_t	PWRMGMT_PLL_X_CLK = 0x01
static const uint8_t	USERCTL_DIS_I2C = 0x10
static const uint8_t	USERCTL_I2C_MST_EN = 0x20
static const uint8_t	USERCTL_GYRO_RST = 0x01

---

Detailed Description

Driver for sensor MPU 9250.

This sensor is at the same time a accelerometer and a gyroscope and a magnetometer The inherited method Accelerometer::update is implemented as Mpu9250::update_acc The inherited method Gyroscope::update is implemented as Mpu9250::update_gyr The inherited method Magnetometer::update is implemented as Mpu9250::update_mag

---

Constructor & Destructor Documentation

Mpu_9250::Mpu_9250	(	Spi &	spi,
		Gpio &	nss_gpio,
		const conf_t	config = mpu_9250_default_config()
	)

Constructor.

Parameters:

spi	Reference to SPI device
nss_gpio	Reference to Slave Select GPIO
config	Device configuration

---

Member Function Documentation

const std::array< float, 3 > & Mpu_9250::acc

(

void

)

const [virtual]

Get X, Y and Z components of acceleration.

This is raw data, so X, Y and Z components are biased, are scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal and axis rotations

Returns:

Value

Implements Accelerometer.

const float & Mpu_9250::acc_X

(

void

)

const [virtual]

Get X component of acceleration.

This is raw data, so X, Y and Z components are biased, are scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal and axis rotations

Returns:

Value

Implements Accelerometer.

const float & Mpu_9250::acc_Y

(

void

)

const [virtual]

Get Y component of acceleration.

This is raw data, so X, Y and Z components are biased, are scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal and axis rotations

Returns:

Value

Implements Accelerometer.

const float & Mpu_9250::acc_Z

(

void

)

const [virtual]

Get Z component of acceleration.

This is raw data, so X, Y and Z components are biased, are scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal and axis rotations

Returns:

Value

Implements Accelerometer.

const std::array< float, 3 > & Mpu_9250::gyro

(

void

)

const [virtual]

Get X, Y and Z components of angular velocity.

This is raw data, so X, Y and Z components are biased, are scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal and axis rotations

Returns:

Value

Implements Gyroscope.

const float & Mpu_9250::gyro_X

(

void

)

const [virtual]

Get X component of angular velocity.

This is raw data, so X, Y and Z components are biased, are scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal and axis rotations

Returns:

Value

Implements Gyroscope.

const float & Mpu_9250::gyro_Y

(

void

)

const [virtual]

Get Y component of angular velocity.

This is raw data, so X, Y and Z components are biased, are scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal and axis rotations

Returns:

Value

Implements Gyroscope.

const float & Mpu_9250::gyro_Z

(

void

)

const [virtual]

Get Z component of angular velocity.

This is raw data, so X, Y and Z components are biased, are scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal and axis rotations

Returns:

Value

Implements Gyroscope.

bool Mpu_9250::init

(

void

)

[virtual]

Initialise the sensor.

Sends configuration via SPI, the SPI peripheral must be activated before this method is called

Returns:

true Success

false Failed

Implements Accelerometer.

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const float & Mpu_9250::last_update_us

(

void

)

const [virtual]

Get last update time in microseconds.

Returns:

Update time

Implements Accelerometer.

const std::array< float, 3 > & Mpu_9250::mag

(

void

)

const [virtual]

Get X, Y and Z components of magnetic field.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Magnetometer.

bool Mpu_9250::mag_read_reg	(	uint8_t	reg,
		uint8_t *	in_data
	)

Read register from magnetometer.

Parameters:

reg	Register to read from
in_data	Incoming data

Returns:

success

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bool Mpu_9250::mag_reset

(

void

)

Reset magnetometer.

Returns:

success

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bool Mpu_9250::mag_write_reg	(	uint8_t	reg,
		uint8_t *	out_data
	)

Write values in register of ak8963.

Parameters:

reg	Register to write to
out_data	Outgoing data

Returns:

success

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const float & Mpu_9250::mag_X

(

void

)

const [virtual]

Get X component of magnetic field.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Magnetometer.

const float & Mpu_9250::mag_Y

(

void

)

const [virtual]

Get Y component of magnetic field.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Magnetometer.

const float & Mpu_9250::mag_Z

(

void

)

const [virtual]

Get Z component of magnetic field.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Magnetometer.

static conf_t Mpu_9250::mpu_9250_default_config

(

)

[inline, static]

Default configuration for mpu 9250.

Returns:

Conf structure

bool Mpu_9250::mpu_reset

(

void

)

Reset acc and gyro.

Returns:

success

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bool Mpu_9250::read_reg	(	uint8_t	reg,
		uint8_t *	in_data,
		uint32_t	nbytes = 1
	)

Read register of mpu 9250.

Read data at the specified register, burst read possible by specifying the number of bytes to read

Parameters:

reg	Register to read from
in_data	Incoming data
nbytes	Number of bytes to read

Returns:

success

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const float & Mpu_9250::temperature

(

void

)

const [virtual]

Get sensor temperature.

Returns:

Value

Implements Accelerometer.

bool Mpu_9250::update_acc

(

void

)

[virtual]

Main update function.

Get new data from the sensor

Returns:

true Success

false Failed

Implements Mpu_9250_acc.

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bool Mpu_9250::write_reg	(	uint8_t	reg,
		uint8_t *	out_data,
		uint32_t	nbytes = 1
	)

Write register of mpu 9250.

Write data to the specified register, burst write possible by specifying the number of bytes to write

Parameters:

reg	Register to write to
out_data	Outgoing data
nbytes	Number of bytes to write

Returns:

success

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---

The documentation for this class was generated from the following files:

• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/mpu_9250.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/mpu_9250.cpp