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/*
* 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.hpp"
#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:
};
}
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