A Dependency Injection based SPI Driver library for the MPU9250 9-DOF IMU from InvenSense.
This is a work in progress, see Status for more information.
Check out mpu9250.h for the C language interface, or mpu9250.hpp for the C++ language interface.
A C++ adaptor is provided in mpu9250_if.hpp to adapt between c++ driver objects and the underlying c implementation.
For C use you will need to implement an SPI driver function with the prototype int8_t spi_transfer(void* context, uint8_t len, uint8_t *data_out, uint8_t* data_in);.
For C++ use you can use the above function, or create an object extending MPU9250::SpiDriverInterface that implements the method int spi_transfer(uint8_t len, uint8_t *data_out, uint8_t* data_in).
Both of the above functions should return >= 0 for success, < 0 for failure. For an example (using USB-Thing check out the util.
- Register operations
- Initialisation
- Polling
- Compass Configuration
- Compass Passthrough
- Filter Configuration
- Autonomous mode (free wheeling)
- Externally triggered mode
- DMA support
This project is MIT licensed to avoid placing limitations on possible uses. If you make improvements, please consider opening a pull request and contributing them back. And if you use this in a project, I would love to hear about it (and you can find my email in any of my git commits).
If you have any questions, comments, or suggestions, feel free to open an issue or a pull request.