TDK InvenSense MPU-9250 9-axis IMU. Accel/gyro/temp (this unit itself) + AK8963 mag (mag()). More...

#include <unit_mpu9250.hpp>

Inheritance diagram for m5::unit::UnitMPU9250:

Public Member Functions
	UnitMPU9250 (const uint8_t addr=DEFAULT_ADDRESS, const uint8_t mag_addr=0x0C)
	Construct with the MPU9250's accel/gyro address and the internal AK8963 mag address.

virtual	~UnitMPU9250 ()
	Destructor.

UnitAK8963 &	mag ()
	Magnetometer sub-unit (add to an AhrsController for Mag). Accel/gyro/temp is this unit itself.

virtual bool	begin () override
	Begin the accel/gyro die, then open the aux bypass. The framework begins the mag child next.

Public Member Functions inherited from m5::unit::UnitMPU6500
	UnitMPU6500 (const uint8_t addr=DEFAULT_ADDRESS)

Public Member Functions inherited from m5::unit::UnitMPU6xxx
virtual void	update (const bool force=false) override
	Update the unit.

config_t	config () const
	Gets the configuration.

void	config (const config_t &cfg)
	Set the configuration.

bool	writeAccelRange (const mpu6886::AccelRange range)
	Write the accelerometer range.

bool	writeGyroRange (const mpu6886::GyroRange range)
	Write the gyroscope range.

bool	readAccelRange (mpu6886::AccelRange &range)
	Read the accelerometer range from the device (REG_ACCEL_CONFIG bits[4:3])

bool	readGyroRange (mpu6886::GyroRange &range)
	Read the gyroscope range from the device (REG_GYRO_CONFIG bits[4:3])

bool	writeSampleRateDiv (const uint8_t div)
	Write the sample rate divider.

bool	readSampleRateDiv (uint8_t &div)
	Read the sample rate divider from the device (REG_SMPLRT_DIV)

bool	writeDlpf (const mpu6886::Dlpf dlpf)
	Write the digital low-pass filter bandwidth.

bool	readDlpf (mpu6886::Dlpf &dlpf)
	Read the digital low-pass filter bandwidth from the device (REG_CONFIG bits[2:0])

bool	softReset ()
	Soft reset (REG_PWR_MGMT_1 DEVICE_RESET), leaving the chip initialized but unconfigured and stopped.

bool	startPeriodicMeasurement (const mpu6886::AccelRange accel_range, const mpu6886::GyroRange gyro_range, const mpu6886::Dlpf dlpf, const uint8_t sample_rate_div)
	Start periodic measurement.

bool	startPeriodicMeasurement ()
	Start periodic measurement in the current settings.

bool	stopPeriodicMeasurement ()
	Stop periodic measurement.

bool	sleep () override
	Put the chip to sleep (REG_PWR_MGMT_1 SLEEP)

bool	wakeup () override
	Wake the chip from sleep()

virtual m5::imu::Capability	imuSpec () const override
	Capability of this unit.

virtual m5::imu::Capability	readImuRaw (m5::imu::imu_raw_data_t &out) override
	Read the latest raw IMU data.

virtual void	imuConvertParam (m5::imu::imu_convert_param_t &out) const override
	Gets the conversion parameters for raw IMU data.

Protected Member Functions
bool	accepts_whoami (const uint8_t id) const override
	Accepted WHO_AM_I id(s) for this chip; begin() rejects the device unless this returns true.

virtual bool	start_periodic_measurement (const mpu6886::AccelRange accel_range, const mpu6886::GyroRange gyro_range, const mpu6886::Dlpf dlpf, const uint8_t sample_rate_div) override
	Base config + re-open the aux bypass (the base writes INT_PIN_CFG=0xC0, which closes it and would cut off the AK8963 child at 0x0C on a stop -> start cycle)

virtual std::shared_ptr< Adapter >	ensure_adapter (const uint8_t ch) override
	Share this composite's bus with the mag child, duplicated at the child's address.

Protected Member Functions inherited from m5::unit::UnitMPU6500
float	temperature_res () const override
	Temperature conversion: degC per LSB (imu_convert_param_t::temp_res)

float	temperature_offset () const override
	Temperature conversion: degC offset (imu_convert_param_t::temp_offset)

Protected Member Functions inherited from m5::unit::UnitMPU6xxx
	UnitMPU6xxx (const uint8_t addr=DEFAULT_ADDRESS)
	Protected: UnitMPU6xxx is abstract, constructed only by concrete derived chips.

bool	start_periodic_measurement ()

bool	stop_periodic_measurement ()

bool	read_measurement (mpu6886::Data &d)

bool	write_register8_verified (const uint8_t reg, const uint8_t val)

	M5_UNIT_COMPONENT_PERIODIC_MEASUREMENT_ADAPTER_HPP_BUILDER (UnitMPU6xxx, mpu6886::Data)

Detailed Description

TDK InvenSense MPU-9250 9-axis IMU. Accel/gyro/temp (this unit itself) + AK8963 mag (mag()).

Constructor & Destructor Documentation

◆ UnitMPU9250()

m5::unit::UnitMPU9250::UnitMPU9250	(	const uint8_t	addr = DEFAULT_ADDRESS,
		const uint8_t	mag_addr = 0x0C )

explicit

Construct with the MPU9250's accel/gyro address and the internal AK8963 mag address.

Parameters

[in]	addr	MPU9250 accel/gyro I2C address (defaults to the chip's factory address)
[in]	mag_addr	AK8963 magnetometer I2C address (defaults to 0x0C, its factory address)

Member Function Documentation

◆ accepts_whoami()

bool m5::unit::UnitMPU9250::accepts_whoami ( const uint8_t id ) const

inlineoverrideprotectedvirtual

Accepted WHO_AM_I id(s) for this chip; begin() rejects the device unless this returns true.

Reimplemented from m5::unit::UnitMPU6500.

◆ begin()

bool m5::unit::UnitMPU9250::begin ( )

overridevirtual

Begin the accel/gyro die, then open the aux bypass. The framework begins the mag child next.

Reimplemented from m5::unit::UnitMPU6xxx.

◆ start_periodic_measurement()

bool m5::unit::UnitMPU9250::start_periodic_measurement	(	const mpu6886::AccelRange	accel_range,
		const mpu6886::GyroRange	gyro_range,
		const mpu6886::Dlpf	dlpf,
		const uint8_t	sample_rate_div )

overrideprotectedvirtual

Base config + re-open the aux bypass (the base writes INT_PIN_CFG=0xC0, which closes it and would cut off the AK8963 child at 0x0C on a stop -> start cycle)