| /* |
| * Author: Jon Trulson <jtrulson@ics.com> |
| * Copyright (c) 2015 Intel Corporation. |
| * |
| * Permission is hereby granted, free of charge, to any person obtaining |
| * a copy of this software and associated documentation files (the |
| * "Software"), to deal in the Software without restriction, including |
| * without limitation the rights to use, copy, modify, merge, publish, |
| * distribute, sublicense, and/or sell copies of the Software, and to |
| * permit persons to whom the Software is furnished to do so, subject to |
| * the following conditions: |
| * |
| * The above copyright notice and this permission notice shall be |
| * included in all copies or substantial portions of the Software. |
| * |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
| * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
| * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
| * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE |
| * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION |
| * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION |
| * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
| */ |
| |
| #pragma once |
| |
| #include "mpu9150.h" |
| |
| #define MPU9250_I2C_BUS 0 |
| #define MPU9250_DEFAULT_I2C_ADDR MPU9150_DEFAULT_I2C_ADDR |
| |
| |
| namespace upm { |
| |
| /** |
| * @library mpu9150 |
| * @sensor mpu9250 |
| * @comname MPU9250 Inertial Measurement Unit |
| * @altname Grove IMU 9DOF V2 |
| * @type accelerometer compass |
| * @man seeed |
| * @web http://www.seeedstudio.com/wiki/Grove_-_IMU_9DOF_v2.0 |
| * @con i2c gpio |
| * |
| * @brief API for MPU9250 chip (Accelerometer, Gyro and Magnometer Sensor) |
| * |
| * This module defines the MPU9250 interface for libmpu9150 |
| * |
| * @image html mpu9250.jpg |
| * @snippet mpu9250.cxx Interesting |
| */ |
| |
| class MPU9250: public MPU9150 |
| { |
| public: |
| /** |
| * MPU9250 constructor |
| * |
| * @param bus I2C bus to use |
| * @param address The address for this device |
| * @param magAddress The address of the connected magnetometer |
| * @param enableAk8975 Enables i2c bypass mode for magnetometer, default |
| * is true |
| */ |
| MPU9250 (int bus=MPU9250_I2C_BUS, int address=MPU9250_DEFAULT_I2C_ADDR, |
| int magAddress=AK8975_DEFAULT_I2C_ADDR, bool enableAk8975=true); |
| |
| /** |
| * MPU9250 destructor |
| */ |
| ~MPU9250 (); |
| |
| /** |
| * get the temperature value |
| * |
| * @return the temperature value in degrees Celcius |
| */ |
| float getTemperature(); |
| |
| protected: |
| |
| private: |
| }; |
| |
| } |