1 /* 2 * Author: Jon Trulson <jtrulson@ics.com> 3 * Copyright (c) 2015 Intel Corporation. 4 * 5 * Permission is hereby granted, free of charge, to any person obtaining 6 * a copy of this software and associated documentation files (the 7 * "Software"), to deal in the Software without restriction, including 8 * without limitation the rights to use, copy, modify, merge, publish, 9 * distribute, sublicense, and/or sell copies of the Software, and to 10 * permit persons to whom the Software is furnished to do so, subject to 11 * the following conditions: 12 * 13 * The above copyright notice and this permission notice shall be 14 * included in all copies or substantial portions of the Software. 15 * 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE 20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION 22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 23 */ 24 25 #pragma once 26 27 #include "mpu9150.h" 28 29 #define MPU9250_I2C_BUS 0 30 #define MPU9250_DEFAULT_I2C_ADDR MPU9150_DEFAULT_I2C_ADDR 31 32 33 namespace upm { 34 35 /** 36 * @library mpu9150 37 * @sensor mpu9250 38 * @comname MPU9250 Inertial Measurement Unit 39 * @altname Grove IMU 9DOF V2 40 * @type accelerometer compass 41 * @man seeed 42 * @web http://www.seeedstudio.com/wiki/Grove_-_IMU_9DOF_v2.0 43 * @con i2c gpio 44 * 45 * @brief API for MPU9250 chip (Accelerometer, Gyro and Magnometer Sensor) 46 * 47 * This module defines the MPU9250 interface for libmpu9150 48 * 49 * @snippet mpu9250.cxx Interesting 50 */ 51 52 class MPU9250: public MPU9150 53 { 54 public: 55 /** 56 * MPU9250 constructor 57 * 58 * @param bus I2C bus to use 59 * @param address The address for this device 60 * @param magAddress The address of the connected magnetometer 61 */ 62 MPU9250 (int bus=MPU9250_I2C_BUS, int address=MPU9250_DEFAULT_I2C_ADDR, 63 int magAddress=AK8975_DEFAULT_I2C_ADDR); 64 65 /** 66 * MPU9250 destructor 67 */ 68 ~MPU9250 (); 69 70 /** 71 * get the temperature value 72 * 73 * @return the temperature value in degrees Celcius 74 */ 75 float getTemperature(); 76 77 protected: 78 79 private: 80 }; 81 82 } 83