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 #include <iostream> 26 #include <unistd.h> 27 #include <stdlib.h> 28 29 #include "mpu9250.h" 30 31 using namespace upm; 32 using namespace std; 33 34 MPU9250::MPU9250 (int bus, int address, int magAddress) : 35 MPU9150(bus, address, magAddress) 36 { 37 } 38 39 MPU9250::~MPU9250() 40 { 41 } 42 43 float MPU9250::getTemperature() 44 { 45 // this equation is taken from the datasheet. The 333.87 value was 46 // taken from the adafruit code (it is referenced as 47 // Temp_Sensitivity in the datasheet, but no value is provided there). 48 return (m_temp / 333.87) + 21.0; 49 } 50 51