MPU-9X50 (MPU9150 and MPU9250) accelerometer/magnetometer/gyroscope

Device driver interface for the MPU-9X50 (MPU9150 and MPU9250) More...

Detailed Description

Device driver interface for the MPU-9X50 (MPU9150 and MPU9250)

This driver provides [S]ensor [A]ctuator [U]ber [L]ayer capabilities.

Files
file	mpu9x50.h
	Device driver interface for the MPU-9X50 (MPU9150 and MPU9250)
file	mpu9x50_internal.h
	Internal config for the MPU-9X50 (MPU9150 and MPU9250)
file	mpu9x50_params.h
	Default configuration for MPU9X50 (MPU9150 and MPU9250) devices.
file	mpu9x50_regs.h
	Register and bit definitions for the MPU-9X50 (MPU9150 and MPU9250) 9-Axis Motion Sensor.

Data Structures
struct	mpu9x50_results_t
	MPU-9X50 result vector struct. More...
struct	mpu9x50_status_t
	Configuration struct for the MPU-9X50 sensor. More...
struct	mpu9x50_params_t
	Device initialization parameters. More...
struct	mpu9x50_t
	Device descriptor for the MPU9X50 sensor. More...

Enumerations
enum	mpu9x50_pwr_t { MPU9X50_SENSOR_PWR_OFF = 0x00 , MPU9X50_SENSOR_PWR_ON = 0x01 }
	Power enum values. More...
enum	mpu9x50_hw_addr_t { MPU9X50_HW_ADDR_HEX_68 = 0x68 , MPU9X50_HW_ADDR_HEX_69 = 0x69 }
	Possible MPU-9X50 hardware addresses (wiring specific) More...
enum	mpu9x50_comp_addr_t { MPU9X50_COMP_ADDR_HEX_0C = 0x0C , MPU9X50_COMP_ADDR_HEX_0D = 0x0D , MPU9X50_COMP_ADDR_HEX_0E = 0x0E , MPU9X50_COMP_ADDR_HEX_0F = 0x0F }
	Possible compass addresses (wiring specific) More...
enum	mpu9x50_gyro_ranges_t { MPU9X50_GYRO_FSR_250DPS = 0x00 , MPU9X50_GYRO_FSR_500DPS = 0x01 , MPU9X50_GYRO_FSR_1000DPS = 0x02 , MPU9X50_GYRO_FSR_2000DPS = 0x03 }
	Possible full scale ranges for the gyroscope. More...
enum	mpu9x50_accel_ranges_t { MPU9X50_ACCEL_FSR_2G = 0x00 , MPU9X50_ACCEL_FSR_4G = 0x01 , MPU9X50_ACCEL_FSR_8G = 0x02 , MPU9X50_ACCEL_FSR_16G = 0x03 }
	Possible full scale ranges for the accelerometer. More...
enum	mpu9x50_lpf_t {   MPU9X50_FILTER_188HZ = 0x01 , MPU9X50_FILTER_98HZ = 0x02 , MPU9X50_FILTER_42HZ = 0x03 , MPU9X50_FILTER_20HZ = 0x04 ,   MPU9X50_FILTER_10HZ = 0x05 , MPU9X50_FILTER_5HZ = 0x06 }
	Possible low pass filter values. More...

Functions
int	mpu9x50_init (mpu9x50_t *dev, const mpu9x50_params_t *params)
	Initialize the given MPU9X50 device.
int	mpu9x50_set_accel_power (mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
	Enable or disable accelerometer power.
int	mpu9x50_set_gyro_power (mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
	Enable or disable gyroscope power.
int	mpu9x50_set_compass_power (mpu9x50_t *dev, mpu9x50_pwr_t pwr_conf)
	Enable or disable compass power.
int	mpu9x50_read_gyro (const mpu9x50_t *dev, mpu9x50_results_t *output)
	Read angular speed values from the given MPU9X50 device, returned in dps.
int	mpu9x50_read_accel (const mpu9x50_t *dev, mpu9x50_results_t *output)
	Read acceleration values from the given MPU9X50 device, returned in mG.
int	mpu9x50_read_compass (const mpu9x50_t *dev, mpu9x50_results_t *output)
	Read magnetic field values from the given MPU9X50 device, returned in mikroT.
int	mpu9x50_read_temperature (const mpu9x50_t *dev, int32_t *output)
	Read temperature value from the given MPU9X50 device, returned in m°C.
int	mpu9x50_set_gyro_fsr (mpu9x50_t *dev, mpu9x50_gyro_ranges_t fsr)
	Set the full-scale range for raw gyroscope data.
int	mpu9x50_set_accel_fsr (mpu9x50_t *dev, mpu9x50_accel_ranges_t fsr)
	Set the full-scale range for raw accelerometer data.
int	mpu9x50_set_sample_rate (mpu9x50_t *dev, uint16_t rate)
	Set the rate at which the gyroscope and accelerometer data is sampled.
int	mpu9x50_set_compass_sample_rate (mpu9x50_t *dev, uint8_t rate)
	Set the rate at which the compass data is sampled.

Sample rate macro definitions
#define	MPU9X50_MIN_SAMPLE_RATE   (4)
#define	MPU9X50_MAX_SAMPLE_RATE   (1000)
#define	MPU9X50_DEFAULT_SAMPLE_RATE   (50)
#define	MPU9X50_MIN_COMP_SMPL_RATE   (1)
#define	MPU9X50_MAX_COMP_SMPL_RATE   (100)

Macro Definition Documentation

MPU9X50_DEFAULT_SAMPLE_RATE

#define MPU9X50_DEFAULT_SAMPLE_RATE   (50)

Definition at line 41 of file mpu9x50.h.

MPU9X50_MAX_COMP_SMPL_RATE

#define MPU9X50_MAX_COMP_SMPL_RATE   (100)

Definition at line 43 of file mpu9x50.h.

MPU9X50_MAX_SAMPLE_RATE

#define MPU9X50_MAX_SAMPLE_RATE   (1000)

Definition at line 40 of file mpu9x50.h.

MPU9X50_MIN_COMP_SMPL_RATE

#define MPU9X50_MIN_COMP_SMPL_RATE   (1)

Definition at line 42 of file mpu9x50.h.

MPU9X50_MIN_SAMPLE_RATE

#define MPU9X50_MIN_SAMPLE_RATE   (4)

Definition at line 39 of file mpu9x50.h.

Enumeration Type Documentation

mpu9x50_accel_ranges_t

enum mpu9x50_accel_ranges_t

Possible full scale ranges for the accelerometer.

Definition at line 85 of file mpu9x50.h.

mpu9x50_comp_addr_t

enum mpu9x50_comp_addr_t

Possible compass addresses (wiring specific)

Definition at line 65 of file mpu9x50.h.

mpu9x50_gyro_ranges_t

enum mpu9x50_gyro_ranges_t

Possible full scale ranges for the gyroscope.

Definition at line 75 of file mpu9x50.h.

mpu9x50_hw_addr_t

enum mpu9x50_hw_addr_t

Possible MPU-9X50 hardware addresses (wiring specific)

Definition at line 57 of file mpu9x50.h.

mpu9x50_lpf_t

enum mpu9x50_lpf_t

Possible low pass filter values.

Definition at line 95 of file mpu9x50.h.

mpu9x50_pwr_t

enum mpu9x50_pwr_t

Power enum values.

Definition at line 49 of file mpu9x50.h.

Function Documentation

mpu9x50_init()

int mpu9x50_init	(	mpu9x50_t *	dev,
		const mpu9x50_params_t *	params
	)

Initialize the given MPU9X50 device.

Parameters

[out]	dev	Initialized device descriptor of MPU9X50 device
[in]	params	Initialization parameters

Returns

0 on success

-1 if given I2C is not enabled in board config

mpu9x50_read_accel()

int mpu9x50_read_accel	(	const mpu9x50_t *	dev,
		mpu9x50_results_t *	output
	)

Read acceleration values from the given MPU9X50 device, returned in mG.

The raw acceleration data is read from the sensor and normalized with respect to the configured accelerometer full-scale range.

Parameters

[in]	dev	Device descriptor of MPU9X50 device to read from
[out]	output	Result vector in mG per axis

Returns

0 on success

-1 if device's I2C is not enabled in board config

-2 if accel full-scale range is configured wrong

mpu9x50_read_compass()

int mpu9x50_read_compass	(	const mpu9x50_t *	dev,
		mpu9x50_results_t *	output
	)

Read magnetic field values from the given MPU9X50 device, returned in mikroT.

The raw compass data is read from the sensor and normalized with respect to the compass full-scale range (which can not be configured).

Parameters

[in]	dev	Device descriptor of MPU9X50 device to read from
[out]	output	Result vector in mikroT per axis

Returns

0 on success

-1 if device's I2C is not enabled in board config

mpu9x50_read_gyro()

int mpu9x50_read_gyro	(	const mpu9x50_t *	dev,
		mpu9x50_results_t *	output
	)

Read angular speed values from the given MPU9X50 device, returned in dps.

The raw gyroscope data is read from the sensor and normalized with respect to the configured gyroscope full-scale range.

Parameters

[in]	dev	Device descriptor of MPU9X50 device to read from
[out]	output	Result vector in dps per axis

Returns

0 on success

-1 if device's I2C is not enabled in board config

-2 if gyro full-scale range is configured wrong

mpu9x50_read_temperature()

int mpu9x50_read_temperature	(	const mpu9x50_t *	dev,
		int32_t *	output
	)

Read temperature value from the given MPU9X50 device, returned in m°C.

Note

The measured temperature is slightly higher than the real room temperature. Tests showed that the offset varied around 2-3 °C (but no warranties here).

Parameters

[in]	dev	Device descriptor of MPU9X50 device to read from
[out]	output	Temperature in m°C

Returns

0 on success

-1 if device's I2C is not enabled in board config

mpu9x50_set_accel_fsr()

int mpu9x50_set_accel_fsr	(	mpu9x50_t *	dev,
		mpu9x50_accel_ranges_t	fsr
	)

Set the full-scale range for raw accelerometer data.

Parameters

[in]	dev	Device descriptor of MPU9X50 device
[in]	fsr	Target full-scale range

Returns

0 on success

-1 if device's I2C is not enabled in board config

-2 if given full-scale target value is not valid

mpu9x50_set_accel_power()

int mpu9x50_set_accel_power	(	mpu9x50_t *	dev,
		mpu9x50_pwr_t	pwr_conf
	)

Enable or disable accelerometer power.

Parameters

[in]	dev	Device descriptor of MPU9X50 device
[in]	pwr_conf	Target power setting: PWR_ON or PWR_OFF

Returns

0 on success

-1 if given I2C is not enabled in board config

mpu9x50_set_compass_power()

int mpu9x50_set_compass_power	(	mpu9x50_t *	dev,
		mpu9x50_pwr_t	pwr_conf
	)

Enable or disable compass power.

Parameters

[in]	dev	Device descriptor of MPU9X50 device
[in]	pwr_conf	Target power setting: PWR_ON or PWR_OFF

Returns

0 on success

-1 if given I2C is not enabled in board config

mpu9x50_set_compass_sample_rate()

int mpu9x50_set_compass_sample_rate	(	mpu9x50_t *	dev,
		uint8_t	rate
	)

Set the rate at which the compass data is sampled.

Sample rate can be chosen between 1 Hz and 100 Hz but has to be a fraction of the configured accel/gyro sample rate. The actual set value might slightly differ. If necessary, check the actual set value in the device's config member afterwards.

Parameters

[in]	dev	Device descriptor of MPU9X50 device
[in]	rate	Target sample rate in Hz

Returns

0 on success

-1 if device's I2C is not enabled in board config

-2 if given target sample rate is not valid

mpu9x50_set_gyro_fsr()

int mpu9x50_set_gyro_fsr	(	mpu9x50_t *	dev,
		mpu9x50_gyro_ranges_t	fsr
	)

Set the full-scale range for raw gyroscope data.

Parameters

[in]	dev	Device descriptor of MPU9X50 device
[in]	fsr	Target full-scale range

Returns

0 on success

-1 if device's I2C is not enabled in board config

-2 if given full-scale target value is not valid

mpu9x50_set_gyro_power()

int mpu9x50_set_gyro_power	(	mpu9x50_t *	dev,
		mpu9x50_pwr_t	pwr_conf
	)

Enable or disable gyroscope power.

Parameters

[in]	dev	Device descriptor of MPU9X50 device
[in]	pwr_conf	Target power setting: PWR_ON or PWR_OFF

Returns

0 on success

-1 if given I2C is not enabled in board config

mpu9x50_set_sample_rate()

int mpu9x50_set_sample_rate	(	mpu9x50_t *	dev,
		uint16_t	rate
	)

Set the rate at which the gyroscope and accelerometer data is sampled.

Sample rate can be chosen between 4 Hz and 1kHz. The actual set value might slightly differ. If necessary, check the actual set value in the device's config member afterwards.

Parameters

[in]	dev	Device descriptor of MPU9X50 device
[in]	rate	Target sample rate in Hz

Returns

0 on success

-1 if device's I2C is not enabled in board config

-2 if given target sample rate is not valid