MPU9150

Driver for MPU9250 I2C accelerometer/gyroscope/magnetometer.

Public Types

Type	Name
enum	Ascale { AFS_2G = 0, AFS_4G, AFS_8G, AFS_16G }
enum	Gscale { GFS_250DPS = 0, GFS_500DPS, GFS_1000DPS, GFS_2000DPS }

Public Attributes

Type	Name
float	ax
float	ay
float	az
float	gx
float	gy
float	gz
float	mx
float	my
float	mz
float	t

Protected Attributes

Type	Name
Ascale	_Ascale
Gscale	_Gscale
const float	_Gscalings
const float	_Ascalings
I2CWrapper	_mpu

Public Functions

Type	Name
	MPU9150 (PinName sda, PinName scl)
int	update_motion ()
int	update_mag ()
void	set_Ascale (Ascale scale)
void	set_Gscale (Gscale scale)

Protected Functions

Type	Name
void	calibrate ()

Public Types Documentation

enum Ascale

enum MPU9150::Ascale {
    AFS_2G = 0,
    AFS_4G,
    AFS_8G,
    AFS_16G,
};

enum Gscale

enum MPU9150::Gscale {
    GFS_250DPS = 0,
    GFS_500DPS,
    GFS_1000DPS,
    GFS_2000DPS,
};

Public Attributes Documentation

variable ax

float MPU9150::ax;

variable ay

float MPU9150::ay;

variable az

float MPU9150::az;

variable gx

float MPU9150::gx;

variable gy

float MPU9150::gy;

variable gz

float MPU9150::gz;

variable mx

float MPU9150::mx;

variable my

float MPU9150::my;

variable mz

float MPU9150::mz;

variable t

float MPU9150::t;

Protected Attributes Documentation

variable _Ascale

Ascale MPU9150::_Ascale;

variable _Gscale

Gscale MPU9150::_Gscale;

variable _Gscalings

const float MPU9150::_Gscalings[4];

variable _Ascalings

const float MPU9150::_Ascalings[4];

variable _mpu

I2CWrapper MPU9150::_mpu;

Public Functions Documentation

function MPU9150

MPU9150::MPU9150 (
    PinName sda,
    PinName scl
)

MPU9150 constructor

Parameters:

• sda I2C SDA pin

• scl I2C SDL pin

function update_motion

int MPU9150::update_motion ()

Get new data from acc/gyro sensors.

Returns:

0 on success, non-0 on fail

function update_mag

int MPU9150::update_mag ()

Get new data from magnetometer

Returns:

0 on success, non-0 on fail

function set_Ascale

void MPU9150::set_Ascale (
    Ascale scale
)

function set_Gscale

void MPU9150::set_Gscale (
    Gscale scale
)

Protected Functions Documentation

function calibrate

void MPU9150::calibrate ()

The documentation for this class was generated from the following file: D:/w/hw-libs/\_libs\_/libraries/MPU9150.h