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