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      1 /*
      2  * Author: Jon Trulson <jtrulson (at) 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