mpu9250 basic driver function

mpu9250 basic driver modules More...

Collaboration diagram for mpu9250 basic driver function:

Data Structures
struct	mpu9250_handle_s
	mpu9250 handle structure definition More...
struct	mpu9250_info_s
	mpu9250 information structure definition More...

Typedefs
typedef struct mpu9250_handle_s	mpu9250_handle_t
	mpu9250 handle structure definition
typedef struct mpu9250_info_s	mpu9250_info_t
	mpu9250 information structure definition

Enumerations
enum	mpu9250_interface_t { MPU9250_INTERFACE_IIC = 0x00 , MPU9250_INTERFACE_SPI = 0x01 }
	mpu9250 interface enumeration definition More...
enum	mpu9250_address_t { MPU9250_ADDRESS_AD0_LOW = 0xD0 , MPU9250_ADDRESS_AD0_HIGH = 0xD2 }
	mpu9250 address enumeration definition More...
enum	mpu9250_bool_t { MPU9250_BOOL_FALSE = 0x00 , MPU9250_BOOL_TRUE = 0x01 }
	mpu9250 bool enumeration definition More...
enum	mpu9250_source_t {   MPU9250_SOURCE_ACC_X = 0x05 , MPU9250_SOURCE_ACC_Y = 0x04 , MPU9250_SOURCE_ACC_Z = 0x03 , MPU9250_SOURCE_GYRO_X = 0x02 ,   MPU9250_SOURCE_GYRO_Y = 0x01 , MPU9250_SOURCE_GYRO_Z = 0x00 }
	mpu9250 source enumeration definition More...
enum	mpu9250_clock_source_t { MPU9250_CLOCK_SOURCE_INTERNAL_20MHZ = 0x00 , MPU9250_CLOCK_SOURCE_PLL = 0x01 , MPU9250_CLOCK_SOURCE_STOP_CLOCK = 0x07 }
	mpu9250 clock source enumeration definition More...
enum	mpu9250_signal_path_reset_t { MPU9250_SIGNAL_PATH_RESET_TEMP = 0x00 , MPU9250_SIGNAL_PATH_RESET_ACCEL = 0x01 , MPU9250_SIGNAL_PATH_RESET_GYRO = 0x02 }
	mpu9250 signal path reset enumeration definition More...
enum	mpu9250_extern_sync_t {   MPU9250_EXTERN_SYNC_INPUT_DISABLED = 0x00 , MPU9250_EXTERN_SYNC_TEMP_OUT_L = 0x01 , MPU9250_EXTERN_SYNC_GYRO_XOUT_L = 0x02 , MPU9250_EXTERN_SYNC_GYRO_YOUT_L = 0x03 ,   MPU9250_EXTERN_SYNC_GYRO_ZOUT_L = 0x04 , MPU9250_EXTERN_SYNC_ACCEL_XOUT_L = 0x05 , MPU9250_EXTERN_SYNC_ACCEL_YOUT_L = 0x06 , MPU9250_EXTERN_SYNC_ACCEL_ZOUT_L = 0x07 }
	mpu9250 extern sync enumeration definition More...
enum	mpu9250_low_pass_filter_t {   MPU9250_LOW_PASS_FILTER_0 = 0x00 , MPU9250_LOW_PASS_FILTER_1 = 0x01 , MPU9250_LOW_PASS_FILTER_2 = 0x02 , MPU9250_LOW_PASS_FILTER_3 = 0x03 ,   MPU9250_LOW_PASS_FILTER_4 = 0x04 , MPU9250_LOW_PASS_FILTER_5 = 0x05 , MPU9250_LOW_PASS_FILTER_6 = 0x06 , MPU9250_LOW_PASS_FILTER_7 = 0x07 }
	mpu9250 low pass filter enumeration definition More...
enum	mpu9250_accelerometer_low_pass_filter_t {   MPU9250_ACCELEROMETER_LOW_PASS_FILTER_0 = 0x00 , MPU9250_ACCELEROMETER_LOW_PASS_FILTER_1 = 0x01 , MPU9250_ACCELEROMETER_LOW_PASS_FILTER_2 = 0x02 , MPU9250_ACCELEROMETER_LOW_PASS_FILTER_3 = 0x03 ,   MPU9250_ACCELEROMETER_LOW_PASS_FILTER_4 = 0x04 , MPU9250_ACCELEROMETER_LOW_PASS_FILTER_5 = 0x05 , MPU9250_ACCELEROMETER_LOW_PASS_FILTER_6 = 0x06 , MPU9250_ACCELEROMETER_LOW_PASS_FILTER_7 = 0x07 }
	mpu9250 accelerometer low pass filter enumeration definition More...
enum	mpu9250_low_power_accel_output_rate_t {   MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_0P24 = 0x00 , MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_0P49 = 0x01 , MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_0P98 = 0x02 , MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_1P95 = 0x03 ,   MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_3P91 = 0x04 , MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_7P81 = 0x05 , MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_15P63 = 0x06 , MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_31P25 = 0x07 ,   MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_62P50 = 0x08 , MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_125 = 0x09 , MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_250 = 0x0A , MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_500 = 0x0B }
	mpu9250 low power accel output rate enumeration definition More...
enum	mpu9250_axis_t { MPU9250_AXIS_Z = 0x05 , MPU9250_AXIS_Y = 0x06 , MPU9250_AXIS_X = 0x07 }
	mpu9250 axis enumeration definition More...
enum	mpu9250_gyroscope_range_t { MPU9250_GYROSCOPE_RANGE_250DPS = 0x00 , MPU9250_GYROSCOPE_RANGE_500DPS = 0x01 , MPU9250_GYROSCOPE_RANGE_1000DPS = 0x02 , MPU9250_GYROSCOPE_RANGE_2000DPS = 0x03 }
	mpu9250 gyroscope range enumeration definition More...
enum	mpu9250_accelerometer_range_t { MPU9250_ACCELEROMETER_RANGE_2G = 0x00 , MPU9250_ACCELEROMETER_RANGE_4G = 0x01 , MPU9250_ACCELEROMETER_RANGE_8G = 0x02 , MPU9250_ACCELEROMETER_RANGE_16G = 0x03 }
	mpu9250 accelerometer range enumeration definition More...
enum	mpu9250_fifo_t {   MPU9250_FIFO_TEMP = 0x07 , MPU9250_FIFO_XG = 0x06 , MPU9250_FIFO_YG = 0x05 , MPU9250_FIFO_ZG = 0x04 ,   MPU9250_FIFO_ACCEL = 0x03 }
	mpu9250 fifo enumeration definition More...
enum	mpu9250_fifo_mode { MPU9250_FIFO_MODE_STREAM = 0x00 , MPU9250_FIFO_MODE_NORMAL = 0x01 }
	mpu9250 fifo mode enumeration definition More...
enum	mpu9250_pin_level_t { MPU9250_PIN_LEVEL_HIGH = 0x00 , MPU9250_PIN_LEVEL_LOW = 0x01 }
	mpu9250 pin level enumeration definition More...
enum	mpu9250_pin_type_t { MPU9250_PIN_TYPE_PUSH_PULL = 0x00 , MPU9250_PIN_TYPE_OPEN_DRAIN = 0x01 }
	mpu9250 pin type enumeration definition More...
enum	mpu9250_interrupt_t {   MPU9250_INTERRUPT_MOTION = 6 , MPU9250_INTERRUPT_FIFO_OVERFLOW = 4 , MPU9250_INTERRUPT_FSYNC_INT = 3 , MPU9250_INTERRUPT_DMP = 1 ,   MPU9250_INTERRUPT_DATA_READY = 0 }
	mpu9250 interrupt enumeration definition More...
enum	mpu9250_iic_slave_t {   MPU9250_IIC_SLAVE_0 = 0x00 , MPU9250_IIC_SLAVE_1 = 0x01 , MPU9250_IIC_SLAVE_2 = 0x02 , MPU9250_IIC_SLAVE_3 = 0x03 ,   MPU9250_IIC_SLAVE_4 = 0x04 }
	mpu9250 iic slave enumeration definition More...
enum	mpu9250_iic_clock_t {   MPU9250_IIC_CLOCK_348_KHZ = 0x00 , MPU9250_IIC_CLOCK_333_KHZ = 0x01 , MPU9250_IIC_CLOCK_320_KHZ = 0x02 , MPU9250_IIC_CLOCK_308_KHZ = 0x03 ,   MPU9250_IIC_CLOCK_296_KHZ = 0x04 , MPU9250_IIC_CLOCK_286_KHZ = 0x05 , MPU9250_IIC_CLOCK_276_KHZ = 0x06 , MPU9250_IIC_CLOCK_267_KHZ = 0x07 ,   MPU9250_IIC_CLOCK_258_KHZ = 0x08 , MPU9250_IIC_CLOCK_500_KHZ = 0x09 , MPU9250_IIC_CLOCK_471_KHZ = 0x0A , MPU9250_IIC_CLOCK_444_KHZ = 0x0B ,   MPU9250_IIC_CLOCK_421_KHZ = 0x0C , MPU9250_IIC_CLOCK_400_KHZ = 0x0D , MPU9250_IIC_CLOCK_381_KHZ = 0x0E , MPU9250_IIC_CLOCK_364_KHZ = 0x0F }
	mpu9250 iic clock enumeration definition More...
enum	mpu9250_iic_read_mode_t { MPU9250_IIC_READ_MODE_RESTART = 0x00 , MPU9250_IIC_READ_MODE_STOP_AND_START = 0x01 }
	mpu9250 iic read mode enumeration definition More...
enum	mpu9250_iic_mode_t { MPU9250_IIC_MODE_WRITE = 0x00 , MPU9250_IIC_MODE_READ = 0x01 }
	mpu9250 iic mode enumeration definition More...
enum	mpu9250_iic_transaction_mode_t { MPU9250_IIC_TRANSACTION_MODE_DATA = 0x00 , MPU9250_IIC_TRANSACTION_MODE_REG_DATA = 0x01 }
	mpu9250 iic transaction mode enumeration definition More...
enum	mpu9250_iic4_transaction_mode_t { MPU9250_IIC4_TRANSACTION_MODE_DATA = 0x00 , MPU9250_IIC4_TRANSACTION_MODE_REG = 0x01 }
	mpu9250 iic4 transaction mode enumeration definition More...
enum	mpu9250_iic_group_order_t { MPU9250_IIC_GROUP_ORDER_EVEN = 0x00 , MPU9250_IIC_GROUP_ORDER_ODD = 0x01 }
	mpu9250 iic group order enumeration definition More...
enum	mpu9250_iic_status_t {   MPU9250_IIC_STATUS_PASS_THROUGH = 0x80 , MPU9250_IIC_STATUS_IIC_SLV4_DONE = 0x40 , MPU9250_IIC_STATUS_IIC_LOST_ARB = 0x20 , MPU9250_IIC_STATUS_IIC_SLV4_NACK = 0x10 ,   MPU9250_IIC_STATUS_IIC_SLV3_NACK = 0x08 , MPU9250_IIC_STATUS_IIC_SLV2_NACK = 0x04 , MPU9250_IIC_STATUS_IIC_SLV1_NACK = 0x02 , MPU9250_IIC_STATUS_IIC_SLV0_NACK = 0x01 }
	mpu9250 iic status enumeration definition More...
enum	mpu9250_iic_delay_t {   MPU9250_IIC_DELAY_ES_SHADOW = 7 , MPU9250_IIC_DELAY_SLAVE_4 = 4 , MPU9250_IIC_DELAY_SLAVE_3 = 3 , MPU9250_IIC_DELAY_SLAVE_2 = 2 ,   MPU9250_IIC_DELAY_SLAVE_1 = 1 , MPU9250_IIC_DELAY_SLAVE_0 = 0 }
	mpu9250 iic delay enumeration definition More...

Functions
uint8_t	mpu9250_info (mpu9250_info_t *info)
	get the chip's information
uint8_t	mpu9250_set_interface (mpu9250_handle_t *handle, mpu9250_interface_t interface)
	set the chip interface
uint8_t	mpu9250_get_interface (mpu9250_handle_t *handle, mpu9250_interface_t *interface)
	get the chip interface
uint8_t	mpu9250_set_addr_pin (mpu9250_handle_t *handle, mpu9250_address_t addr_pin)
	set the chip address pin
uint8_t	mpu9250_get_addr_pin (mpu9250_handle_t *handle, mpu9250_address_t *addr_pin)
	get the chip address pin
uint8_t	mpu9250_irq_handler (mpu9250_handle_t *handle)
	irq handler
uint8_t	mpu9250_init (mpu9250_handle_t *handle)
	initialize the chip
uint8_t	mpu9250_deinit (mpu9250_handle_t *handle)
	close the chip
uint8_t	mpu9250_read (mpu9250_handle_t *handle, int16_t(*accel_raw)[3], float(*accel_g)[3], int16_t(*gyro_raw)[3], float(*gyro_dps)[3], int16_t(*mag_raw)[3], float(*mag_ut)[3], uint16_t *len)
	read the data
uint8_t	mpu9250_read_temperature (mpu9250_handle_t *handle, int16_t(*raw), float *degrees)
	read the temperature
uint8_t	mpu9250_set_fifo (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable fifo
uint8_t	mpu9250_get_fifo (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the fifo status
uint8_t	mpu9250_force_fifo_reset (mpu9250_handle_t *handle)
	force reset the fifo
uint8_t	mpu9250_set_iic_master (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the iic master mode
uint8_t	mpu9250_get_iic_master (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the iic master status
uint8_t	mpu9250_set_disable_iic_slave (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the iic slave mode
uint8_t	mpu9250_get_disable_iic_slave (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the iic slave status
uint8_t	mpu9250_fifo_reset (mpu9250_handle_t *handle)
	reset the fifo
uint8_t	mpu9250_get_fifo_reset (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the fifo reset status
uint8_t	mpu9250_iic_master_reset (mpu9250_handle_t *handle)
	reset the iic master controller
uint8_t	mpu9250_get_iic_master_reset (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the iic master reset status
uint8_t	mpu9250_sensor_reset (mpu9250_handle_t *handle)
	reset all sensors
uint8_t	mpu9250_get_sensor_reset (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the sensor reset status
uint8_t	mpu9250_device_reset (mpu9250_handle_t *handle)
	reset the chip
uint8_t	mpu9250_get_device_reset (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the device reset status
uint8_t	mpu9250_set_clock_source (mpu9250_handle_t *handle, mpu9250_clock_source_t clock_source)
	set the chip clock source
uint8_t	mpu9250_get_clock_source (mpu9250_handle_t *handle, mpu9250_clock_source_t *clock_source)
	get the chip clock source
uint8_t	mpu9250_set_ptat (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the temperature sensor
uint8_t	mpu9250_get_ptat (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the temperature sensor status
uint8_t	mpu9250_set_cycle_wake_up (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the cycle wake up mode
uint8_t	mpu9250_get_cycle_wake_up (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the cycle wake up mode status
uint8_t	mpu9250_set_sleep (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the sleep mode
uint8_t	mpu9250_get_sleep (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the sleep status
uint8_t	mpu9250_set_gyro_standby (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the gyro standby
uint8_t	mpu9250_get_gyro_standby (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the gyro standby status
uint8_t	mpu9250_set_standby_mode (mpu9250_handle_t *handle, mpu9250_source_t source, mpu9250_bool_t enable)
	set source into standby mode
uint8_t	mpu9250_get_standby_mode (mpu9250_handle_t *handle, mpu9250_source_t source, mpu9250_bool_t *enable)
	get the source mode
uint8_t	mpu9250_get_fifo_count (mpu9250_handle_t *handle, uint16_t *count)
	get the fifo counter value
uint8_t	mpu9250_fifo_get (mpu9250_handle_t *handle, uint8_t *buf, uint16_t len)
	fifo read bytes
uint8_t	mpu9250_fifo_set (mpu9250_handle_t *handle, uint8_t *buf, uint16_t len)
	fifo write bytes
uint8_t	mpu9250_set_signal_path_reset (mpu9250_handle_t *handle, mpu9250_signal_path_reset_t path)
	set the signal path reset
uint8_t	mpu9250_set_sample_rate_divider (mpu9250_handle_t *handle, uint8_t d)
	set the sample rate divider
uint8_t	mpu9250_get_sample_rate_divider (mpu9250_handle_t *handle, uint8_t *d)
	get the sample rate divider
uint8_t	mpu9250_set_extern_sync (mpu9250_handle_t *handle, mpu9250_extern_sync_t sync)
	set the extern sync type
uint8_t	mpu9250_get_extern_sync (mpu9250_handle_t *handle, mpu9250_extern_sync_t *sync)
	get the extern sync type
uint8_t	mpu9250_set_low_pass_filter (mpu9250_handle_t *handle, mpu9250_low_pass_filter_t filter)
	set the low pass filter
uint8_t	mpu9250_get_low_pass_filter (mpu9250_handle_t *handle, mpu9250_low_pass_filter_t *filter)
	get the low pass filter
uint8_t	mpu9250_set_fifo_mode (mpu9250_handle_t *handle, mpu9250_fifo_mode mode)
	set the fifo mode
uint8_t	mpu9250_get_fifo_mode (mpu9250_handle_t *handle, mpu9250_fifo_mode *mode)
	get the fifo mode
uint8_t	mpu9250_set_gyroscope_test (mpu9250_handle_t *handle, mpu9250_axis_t axis, mpu9250_bool_t enable)
	set the gyroscope test
uint8_t	mpu9250_get_gyroscope_test (mpu9250_handle_t *handle, mpu9250_axis_t axis, mpu9250_bool_t *enable)
	get the gyroscope test
uint8_t	mpu9250_set_gyroscope_range (mpu9250_handle_t *handle, mpu9250_gyroscope_range_t range)
	set the gyroscope range
uint8_t	mpu9250_get_gyroscope_range (mpu9250_handle_t *handle, mpu9250_gyroscope_range_t *range)
	get the gyroscope range
uint8_t	mpu9250_set_gyroscope_choice (mpu9250_handle_t *handle, uint8_t choice)
	set the gyroscope choice
uint8_t	mpu9250_get_gyroscope_choice (mpu9250_handle_t *handle, uint8_t *choice)
	get the gyroscope choice
uint8_t	mpu9250_set_accelerometer_test (mpu9250_handle_t *handle, mpu9250_axis_t axis, mpu9250_bool_t enable)
	set the accelerometer test
uint8_t	mpu9250_get_accelerometer_test (mpu9250_handle_t *handle, mpu9250_axis_t axis, mpu9250_bool_t *enable)
	get the accelerometer test
uint8_t	mpu9250_set_accelerometer_range (mpu9250_handle_t *handle, mpu9250_accelerometer_range_t range)
	set the accelerometer range
uint8_t	mpu9250_get_accelerometer_range (mpu9250_handle_t *handle, mpu9250_accelerometer_range_t *range)
	get the accelerometer range
uint8_t	mpu9250_set_fifo_1024kb (mpu9250_handle_t *handle)
	set fifo 1024kb
uint8_t	mpu9250_set_accelerometer_choice (mpu9250_handle_t *handle, uint8_t choice)
	set the accelerometer choice
uint8_t	mpu9250_get_accelerometer_choice (mpu9250_handle_t *handle, uint8_t *choice)
	get the accelerometer choice
uint8_t	mpu9250_set_accelerometer_low_pass_filter (mpu9250_handle_t *handle, mpu9250_accelerometer_low_pass_filter_t filter)
	set the accelerometer low pass filter
uint8_t	mpu9250_get_accelerometer_low_pass_filter (mpu9250_handle_t *handle, mpu9250_accelerometer_low_pass_filter_t *filter)
	get the accelerometer low pass filter
uint8_t	mpu9250_set_low_power_accel_output_rate (mpu9250_handle_t *handle, mpu9250_low_power_accel_output_rate_t rate)
	set the low power accel output rate
uint8_t	mpu9250_get_low_power_accel_output_rate (mpu9250_handle_t *handle, mpu9250_low_power_accel_output_rate_t *rate)
	get the low power accel output rate
uint8_t	mpu9250_set_wake_on_motion (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable wake on motion
uint8_t	mpu9250_get_wake_on_motion (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the wake on motion status
uint8_t	mpu9250_set_accel_compare_with_previous_sample (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable accel compare with previous sample
uint8_t	mpu9250_get_accel_compare_with_previous_sample (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the accel compare with previous sample status
uint8_t	mpu9250_set_accelerometer_x_offset (mpu9250_handle_t *handle, int16_t offset)
	set the accelerometer x offset
uint8_t	mpu9250_get_accelerometer_x_offset (mpu9250_handle_t *handle, int16_t *offset)
	get the accelerometer x offset
uint8_t	mpu9250_set_accelerometer_y_offset (mpu9250_handle_t *handle, int16_t offset)
	set the accelerometer y offset
uint8_t	mpu9250_get_accelerometer_y_offset (mpu9250_handle_t *handle, int16_t *offset)
	get the accelerometer y offset
uint8_t	mpu9250_set_accelerometer_z_offset (mpu9250_handle_t *handle, int16_t offset)
	set the accelerometer z offset
uint8_t	mpu9250_get_accelerometer_z_offset (mpu9250_handle_t *handle, int16_t *offset)
	get the accelerometer z offset
uint8_t	mpu9250_accelerometer_offset_convert_to_register (mpu9250_handle_t *handle, float mg, int16_t *reg)
	convert the accelerometer offset to the register raw data
uint8_t	mpu9250_accelerometer_offset_convert_to_data (mpu9250_handle_t *handle, int16_t reg, float *mg)
	convert the register raw data to the accelerometer offset
uint8_t	mpu9250_set_gyro_x_offset (mpu9250_handle_t *handle, int16_t offset)
	set the gyro x offset
uint8_t	mpu9250_get_gyro_x_offset (mpu9250_handle_t *handle, int16_t *offset)
	get the gyro x offset
uint8_t	mpu9250_set_gyro_y_offset (mpu9250_handle_t *handle, int16_t offset)
	set the gyro y offset
uint8_t	mpu9250_get_gyro_y_offset (mpu9250_handle_t *handle, int16_t *offset)
	get the gyro y offset
uint8_t	mpu9250_set_gyro_z_offset (mpu9250_handle_t *handle, int16_t offset)
	set the gyro z offset
uint8_t	mpu9250_get_gyro_z_offset (mpu9250_handle_t *handle, int16_t *offset)
	get the gyro z offset
uint8_t	mpu9250_gyro_offset_convert_to_register (mpu9250_handle_t *handle, float dps, int16_t *reg)
	convert the gyro offset to the register raw data
uint8_t	mpu9250_gyro_offset_convert_to_data (mpu9250_handle_t *handle, int16_t reg, float *dps)
	convert the register raw data to the gyro offset
uint8_t	mpu9250_set_fifo_enable (mpu9250_handle_t *handle, mpu9250_fifo_t fifo, mpu9250_bool_t enable)
	enable or disable the fifo function
uint8_t	mpu9250_get_fifo_enable (mpu9250_handle_t *handle, mpu9250_fifo_t fifo, mpu9250_bool_t *enable)
	get the fifo function status
uint8_t	mpu9250_set_interrupt_level (mpu9250_handle_t *handle, mpu9250_pin_level_t level)
	set the interrupt level
uint8_t	mpu9250_get_interrupt_level (mpu9250_handle_t *handle, mpu9250_pin_level_t *level)
	get the interrupt level
uint8_t	mpu9250_set_interrupt_pin_type (mpu9250_handle_t *handle, mpu9250_pin_type_t type)
	set the interrupt pin type
uint8_t	mpu9250_get_interrupt_pin_type (mpu9250_handle_t *handle, mpu9250_pin_type_t *type)
	get the interrupt pin type
uint8_t	mpu9250_set_interrupt_latch (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the interrupt latch
uint8_t	mpu9250_get_interrupt_latch (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the interrupt latch status
uint8_t	mpu9250_set_interrupt_read_clear (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the interrupt reading clear
uint8_t	mpu9250_get_interrupt_read_clear (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the interrupt reading clear status
uint8_t	mpu9250_set_fsync_interrupt_level (mpu9250_handle_t *handle, mpu9250_pin_level_t level)
	set the fsync interrupt level
uint8_t	mpu9250_get_fsync_interrupt_level (mpu9250_handle_t *handle, mpu9250_pin_level_t *level)
	get the fsync interrupt level
uint8_t	mpu9250_set_fsync_interrupt (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the fsync interrupt
uint8_t	mpu9250_get_fsync_interrupt (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the fsync interrupt status
uint8_t	mpu9250_set_iic_bypass (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the iic bypass
uint8_t	mpu9250_get_iic_bypass (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the iic bypass status
uint8_t	mpu9250_set_interrupt (mpu9250_handle_t *handle, mpu9250_interrupt_t type, mpu9250_bool_t enable)
	enable or disable the interrupt
uint8_t	mpu9250_get_interrupt (mpu9250_handle_t *handle, mpu9250_interrupt_t type, mpu9250_bool_t *enable)
	get the interrupt status
uint8_t	mpu9250_get_interrupt_status (mpu9250_handle_t *handle, uint8_t *status)
	get the interrupt status
uint8_t	mpu9250_set_gyroscope_x_test (mpu9250_handle_t *handle, uint8_t data)
	set the gyroscope x test
uint8_t	mpu9250_get_gyroscope_x_test (mpu9250_handle_t *handle, uint8_t *data)
	get the gyroscope x test
uint8_t	mpu9250_set_gyroscope_y_test (mpu9250_handle_t *handle, uint8_t data)
	set the gyroscope y test
uint8_t	mpu9250_get_gyroscope_y_test (mpu9250_handle_t *handle, uint8_t *data)
	get the gyroscope y test
uint8_t	mpu9250_set_gyroscope_z_test (mpu9250_handle_t *handle, uint8_t data)
	set the gyroscope z test
uint8_t	mpu9250_get_gyroscope_z_test (mpu9250_handle_t *handle, uint8_t *data)
	get the gyroscope z test
uint8_t	mpu9250_set_accelerometer_x_test (mpu9250_handle_t *handle, uint8_t data)
	set the accelerometer x test
uint8_t	mpu9250_get_accelerometer_x_test (mpu9250_handle_t *handle, uint8_t *data)
	get the accelerometer x test
uint8_t	mpu9250_set_accelerometer_y_test (mpu9250_handle_t *handle, uint8_t data)
	set the accelerometer y test
uint8_t	mpu9250_get_accelerometer_y_test (mpu9250_handle_t *handle, uint8_t *data)
	get the accelerometer y test
uint8_t	mpu9250_set_accelerometer_z_test (mpu9250_handle_t *handle, uint8_t data)
	set the accelerometer z test
uint8_t	mpu9250_get_accelerometer_z_test (mpu9250_handle_t *handle, uint8_t *data)
	get the accelerometer z test
uint8_t	mpu9250_set_motion_threshold (mpu9250_handle_t *handle, uint8_t threshold)
	set the motion_threshold
uint8_t	mpu9250_get_motion_threshold (mpu9250_handle_t *handle, uint8_t *threshold)
	get the motion_threshold
uint8_t	mpu9250_motion_threshold_convert_to_register (mpu9250_handle_t *handle, float mg, uint8_t *reg)
	convert the motion threshold to the register raw data
uint8_t	mpu9250_motion_threshold_convert_to_data (mpu9250_handle_t *handle, uint8_t reg, float *mg)
	convert the register raw data to the motion threshold
uint8_t	mpu9250_self_test (mpu9250_handle_t *handle, int32_t gyro_offset_raw[3], int32_t accel_offset_raw[3])
	run the self test
uint8_t	mpu9250_set_iic_clock (mpu9250_handle_t *handle, mpu9250_iic_clock_t clk)
	set the iic clock
uint8_t	mpu9250_get_iic_clock (mpu9250_handle_t *handle, mpu9250_iic_clock_t *clk)
	get the iic clock
uint8_t	mpu9250_set_iic_multi_master (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable iic multi master
uint8_t	mpu9250_get_iic_multi_master (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the iic multi master status
uint8_t	mpu9250_set_iic_wait_for_external_sensor (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable iic wait for external sensor
uint8_t	mpu9250_get_iic_wait_for_external_sensor (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the iic wait for external sensor status
uint8_t	mpu9250_set_iic_read_mode (mpu9250_handle_t *handle, mpu9250_iic_read_mode_t mode)
	set the iic read mode
uint8_t	mpu9250_get_iic_read_mode (mpu9250_handle_t *handle, mpu9250_iic_read_mode_t *mode)
	get the iic read mode
uint8_t	mpu9250_set_iic_fifo_enable (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t enable)
	enable or disable the iic fifo
uint8_t	mpu9250_get_iic_fifo_enable (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t *enable)
	get the iic fifo status
uint8_t	mpu9250_set_iic_mode (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_mode_t mode)
	set the iic mode
uint8_t	mpu9250_get_iic_mode (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_mode_t *mode)
	get the iic mode
uint8_t	mpu9250_set_iic_address (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t addr_7bit)
	set the iic address
uint8_t	mpu9250_get_iic_address (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t *addr_7bit)
	get the iic address
uint8_t	mpu9250_set_iic_register (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t reg)
	set the iic register
uint8_t	mpu9250_get_iic_register (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t *reg)
	get the iic register
uint8_t	mpu9250_set_iic_data_out (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t data)
	set the iic data out
uint8_t	mpu9250_get_iic_data_out (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t *data)
	get the iic data out
uint8_t	mpu9250_set_iic_enable (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t enable)
	enable or disable the iic
uint8_t	mpu9250_get_iic_enable (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t *enable)
	get the iic status
uint8_t	mpu9250_set_iic_byte_swap (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t enable)
	enable or disable the iic byte swap
uint8_t	mpu9250_get_iic_byte_swap (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_bool_t *enable)
	get the iic byte swap status
uint8_t	mpu9250_set_iic_transaction_mode (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_transaction_mode_t mode)
	set the iic transaction mode
uint8_t	mpu9250_get_iic_transaction_mode (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_transaction_mode_t *mode)
	get the iic transaction mode
uint8_t	mpu9250_set_iic_group_order (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_group_order_t order)
	set the iic group order
uint8_t	mpu9250_get_iic_group_order (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, mpu9250_iic_group_order_t *order)
	get the iic group order
uint8_t	mpu9250_set_iic_transferred_len (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t len)
	set the iic transferred length
uint8_t	mpu9250_get_iic_transferred_len (mpu9250_handle_t *handle, mpu9250_iic_slave_t slave, uint8_t *len)
	get the iic transferred length
uint8_t	mpu9250_get_iic_status (mpu9250_handle_t *handle, uint8_t *status)
	get the iic status
uint8_t	mpu9250_set_iic_delay_enable (mpu9250_handle_t *handle, mpu9250_iic_delay_t delay, mpu9250_bool_t enable)
	enable or disable the iic delay
uint8_t	mpu9250_get_iic_delay_enable (mpu9250_handle_t *handle, mpu9250_iic_delay_t delay, mpu9250_bool_t *enable)
	get the iic delay status
uint8_t	mpu9250_set_iic4_enable (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the iic4
uint8_t	mpu9250_get_iic4_enable (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the iic4 status
uint8_t	mpu9250_set_iic4_interrupt (mpu9250_handle_t *handle, mpu9250_bool_t enable)
	enable or disable the iic4 interrupt
uint8_t	mpu9250_get_iic4_interrupt (mpu9250_handle_t *handle, mpu9250_bool_t *enable)
	get the iic4 interrupt status
uint8_t	mpu9250_set_iic4_transaction_mode (mpu9250_handle_t *handle, mpu9250_iic4_transaction_mode_t mode)
	set the iic4 transaction mode
uint8_t	mpu9250_get_iic4_transaction_mode (mpu9250_handle_t *handle, mpu9250_iic4_transaction_mode_t *mode)
	get the iic4 transaction mode
uint8_t	mpu9250_set_iic_delay (mpu9250_handle_t *handle, uint8_t delay)
	set the iic delay
uint8_t	mpu9250_get_iic_delay (mpu9250_handle_t *handle, uint8_t *delay)
	get the iic delay
uint8_t	mpu9250_set_iic4_data_out (mpu9250_handle_t *handle, uint8_t data)
	set the iic4 data out
uint8_t	mpu9250_get_iic4_data_out (mpu9250_handle_t *handle, uint8_t *data)
	get the iic4 data out
uint8_t	mpu9250_set_iic4_data_in (mpu9250_handle_t *handle, uint8_t data)
	set the iic4 data in
uint8_t	mpu9250_get_iic4_data_in (mpu9250_handle_t *handle, uint8_t *data)
	get the iic4 data in
uint8_t	mpu9250_read_extern_sensor_data (mpu9250_handle_t *handle, uint8_t *data, uint8_t len)
	read the extern sensor data

Detailed Description

mpu9250 basic driver modules

Typedef Documentation

mpu9250_handle_t

typedef struct mpu9250_handle_s mpu9250_handle_t

mpu9250 handle structure definition

mpu9250_info_t

typedef struct mpu9250_info_s mpu9250_info_t

mpu9250 information structure definition

Enumeration Type Documentation

mpu9250_accelerometer_low_pass_filter_t

enum mpu9250_accelerometer_low_pass_filter_t

mpu9250 accelerometer low pass filter enumeration definition

Enumerator
MPU9250_ACCELEROMETER_LOW_PASS_FILTER_0	3db BW(Hz) rate(KHz) delay(ms) 1 1046 4 0.503 0 218.1 1 1.88
MPU9250_ACCELEROMETER_LOW_PASS_FILTER_1	0 218.1 1 1.88
MPU9250_ACCELEROMETER_LOW_PASS_FILTER_2	0 99 1 2.88
MPU9250_ACCELEROMETER_LOW_PASS_FILTER_3	0 44.8 1 4.88
MPU9250_ACCELEROMETER_LOW_PASS_FILTER_4	0 21.2 1 8.87
MPU9250_ACCELEROMETER_LOW_PASS_FILTER_5	0 10.2 1 16.83
MPU9250_ACCELEROMETER_LOW_PASS_FILTER_6	0 5.05 1 32.48
MPU9250_ACCELEROMETER_LOW_PASS_FILTER_7	0 420 1 1.38

Definition at line 154 of file driver_mpu9250.h.

mpu9250_accelerometer_range_t

enum mpu9250_accelerometer_range_t

mpu9250 accelerometer range enumeration definition

Enumerator
MPU9250_ACCELEROMETER_RANGE_2G	±2 g
MPU9250_ACCELEROMETER_RANGE_4G	±4 g
MPU9250_ACCELEROMETER_RANGE_8G	±8 g
MPU9250_ACCELEROMETER_RANGE_16G	±16 g

Definition at line 210 of file driver_mpu9250.h.

mpu9250_address_t

enum mpu9250_address_t

mpu9250 address enumeration definition

Enumerator
MPU9250_ADDRESS_AD0_LOW	AD0 pin set LOW
MPU9250_ADDRESS_AD0_HIGH	AD0 pin set HIGH

Definition at line 71 of file driver_mpu9250.h.

mpu9250_axis_t

enum mpu9250_axis_t

mpu9250 axis enumeration definition

Enumerator
MPU9250_AXIS_Z	z
MPU9250_AXIS_Y	y
MPU9250_AXIS_X	x

Definition at line 189 of file driver_mpu9250.h.

mpu9250_bool_t

enum mpu9250_bool_t

mpu9250 bool enumeration definition

Enumerator
MPU9250_BOOL_FALSE	disable function
MPU9250_BOOL_TRUE	enable function

Definition at line 80 of file driver_mpu9250.h.

mpu9250_clock_source_t

enum mpu9250_clock_source_t

mpu9250 clock source enumeration definition

Enumerator
MPU9250_CLOCK_SOURCE_INTERNAL_20MHZ	internal 20MHz
MPU9250_CLOCK_SOURCE_PLL	pll reference
MPU9250_CLOCK_SOURCE_STOP_CLOCK	stop the clock

Definition at line 102 of file driver_mpu9250.h.

mpu9250_extern_sync_t

enum mpu9250_extern_sync_t

mpu9250 extern sync enumeration definition

Enumerator
MPU9250_EXTERN_SYNC_INPUT_DISABLED	input disabled
MPU9250_EXTERN_SYNC_TEMP_OUT_L	temp out low
MPU9250_EXTERN_SYNC_GYRO_XOUT_L	gyro xout low
MPU9250_EXTERN_SYNC_GYRO_YOUT_L	gyro yout low
MPU9250_EXTERN_SYNC_GYRO_ZOUT_L	gyro zout low
MPU9250_EXTERN_SYNC_ACCEL_XOUT_L	accel xout low
MPU9250_EXTERN_SYNC_ACCEL_YOUT_L	accel yout low
MPU9250_EXTERN_SYNC_ACCEL_ZOUT_L	accel zout low

Definition at line 122 of file driver_mpu9250.h.

mpu9250_fifo_mode

enum mpu9250_fifo_mode

mpu9250 fifo mode enumeration definition

Enumerator
MPU9250_FIFO_MODE_STREAM	when the fifo is full, additional writes will be written to the fifo, replacing the oldest data
MPU9250_FIFO_MODE_NORMAL	when the fifo is full, additional writes will not be written to fifo

Definition at line 233 of file driver_mpu9250.h.

mpu9250_fifo_t

enum mpu9250_fifo_t

mpu9250 fifo enumeration definition

Enumerator
MPU9250_FIFO_TEMP	temperature
MPU9250_FIFO_XG	gyroscope x
MPU9250_FIFO_YG	gyroscope y
MPU9250_FIFO_ZG	gyroscope z
MPU9250_FIFO_ACCEL	accelerometer

Definition at line 221 of file driver_mpu9250.h.

mpu9250_gyroscope_range_t

enum mpu9250_gyroscope_range_t

mpu9250 gyroscope range enumeration definition

Enumerator
MPU9250_GYROSCOPE_RANGE_250DPS	±250 dps
MPU9250_GYROSCOPE_RANGE_500DPS	±500 dps
MPU9250_GYROSCOPE_RANGE_1000DPS	±1000 dps
MPU9250_GYROSCOPE_RANGE_2000DPS	±2000 dps

Definition at line 199 of file driver_mpu9250.h.

mpu9250_iic4_transaction_mode_t

enum mpu9250_iic4_transaction_mode_t

mpu9250 iic4 transaction mode enumeration definition

Enumerator
MPU9250_IIC4_TRANSACTION_MODE_DATA	data only
MPU9250_IIC4_TRANSACTION_MODE_REG	register only

Definition at line 335 of file driver_mpu9250.h.

mpu9250_iic_clock_t

enum mpu9250_iic_clock_t

mpu9250 iic clock enumeration definition

Enumerator
MPU9250_IIC_CLOCK_348_KHZ	348 kHz
MPU9250_IIC_CLOCK_333_KHZ	333 kHz
MPU9250_IIC_CLOCK_320_KHZ	320 kHz
MPU9250_IIC_CLOCK_308_KHZ	308 kHz
MPU9250_IIC_CLOCK_296_KHZ	296 kHz
MPU9250_IIC_CLOCK_286_KHZ	286 kHz
MPU9250_IIC_CLOCK_276_KHZ	276 kHz
MPU9250_IIC_CLOCK_267_KHZ	267 kHz
MPU9250_IIC_CLOCK_258_KHZ	258 kHz
MPU9250_IIC_CLOCK_500_KHZ	500 kHz
MPU9250_IIC_CLOCK_471_KHZ	471 kHz
MPU9250_IIC_CLOCK_444_KHZ	444 kHz
MPU9250_IIC_CLOCK_421_KHZ	421 kHz
MPU9250_IIC_CLOCK_400_KHZ	400 kHz
MPU9250_IIC_CLOCK_381_KHZ	381 kHz
MPU9250_IIC_CLOCK_364_KHZ	364 kHz

Definition at line 285 of file driver_mpu9250.h.

mpu9250_iic_delay_t

enum mpu9250_iic_delay_t

mpu9250 iic delay enumeration definition

Enumerator
MPU9250_IIC_DELAY_ES_SHADOW	delays shadowing of external sensor data until all data has been received
MPU9250_IIC_DELAY_SLAVE_4	slave 4
MPU9250_IIC_DELAY_SLAVE_3	slave 3
MPU9250_IIC_DELAY_SLAVE_2	slave 2
MPU9250_IIC_DELAY_SLAVE_1	slave 1
MPU9250_IIC_DELAY_SLAVE_0	slave 0

Definition at line 370 of file driver_mpu9250.h.

mpu9250_iic_group_order_t

enum mpu9250_iic_group_order_t

mpu9250 iic group order enumeration definition

Enumerator
MPU9250_IIC_GROUP_ORDER_EVEN	when cleared to 0, bytes from register addresses 0 and 1, 2 and 3, etc (even, then odd register addresses) are paired to form a word
MPU9250_IIC_GROUP_ORDER_ODD	when set to 1, bytes from register addresses are paired 1 and 2, 3 and 4, etc (odd, then even register addresses) are paired to form a word

Definition at line 344 of file driver_mpu9250.h.

mpu9250_iic_mode_t

enum mpu9250_iic_mode_t

mpu9250 iic mode enumeration definition

Enumerator
MPU9250_IIC_MODE_WRITE	write
MPU9250_IIC_MODE_READ	read

Definition at line 317 of file driver_mpu9250.h.

mpu9250_iic_read_mode_t

enum mpu9250_iic_read_mode_t

mpu9250 iic read mode enumeration definition

Enumerator
MPU9250_IIC_READ_MODE_RESTART	restart
MPU9250_IIC_READ_MODE_STOP_AND_START	stop and start

Definition at line 308 of file driver_mpu9250.h.

mpu9250_iic_slave_t

enum mpu9250_iic_slave_t

mpu9250 iic slave enumeration definition

Enumerator
MPU9250_IIC_SLAVE_0	slave0
MPU9250_IIC_SLAVE_1	slave1
MPU9250_IIC_SLAVE_2	slave2
MPU9250_IIC_SLAVE_3	slave3
MPU9250_IIC_SLAVE_4	slave4

Definition at line 273 of file driver_mpu9250.h.

mpu9250_iic_status_t

enum mpu9250_iic_status_t

mpu9250 iic status enumeration definition

Enumerator
MPU9250_IIC_STATUS_PASS_THROUGH	pass through
MPU9250_IIC_STATUS_IIC_SLV4_DONE	slave4 done
MPU9250_IIC_STATUS_IIC_LOST_ARB	lost arbitration
MPU9250_IIC_STATUS_IIC_SLV4_NACK	slave4 nack
MPU9250_IIC_STATUS_IIC_SLV3_NACK	slave3 nack
MPU9250_IIC_STATUS_IIC_SLV2_NACK	slave2 nack
MPU9250_IIC_STATUS_IIC_SLV1_NACK	slave1 nack
MPU9250_IIC_STATUS_IIC_SLV0_NACK	slave0 nack

Definition at line 355 of file driver_mpu9250.h.

mpu9250_iic_transaction_mode_t

enum mpu9250_iic_transaction_mode_t

mpu9250 iic transaction mode enumeration definition

Enumerator
MPU9250_IIC_TRANSACTION_MODE_DATA	data only
MPU9250_IIC_TRANSACTION_MODE_REG_DATA	write a register address prior to reading or writing data

Definition at line 326 of file driver_mpu9250.h.

mpu9250_interface_t

enum mpu9250_interface_t

mpu9250 interface enumeration definition

Enumerator
MPU9250_INTERFACE_IIC	iic interface function
MPU9250_INTERFACE_SPI	spi interface function

Definition at line 62 of file driver_mpu9250.h.

mpu9250_interrupt_t

enum mpu9250_interrupt_t

mpu9250 interrupt enumeration definition

Enumerator
MPU9250_INTERRUPT_MOTION	motion
MPU9250_INTERRUPT_FIFO_OVERFLOW	fifo overflow
MPU9250_INTERRUPT_FSYNC_INT	fsync int
MPU9250_INTERRUPT_DMP	dmp
MPU9250_INTERRUPT_DATA_READY	data ready

Definition at line 261 of file driver_mpu9250.h.

mpu9250_low_pass_filter_t

enum mpu9250_low_pass_filter_t

mpu9250 low pass filter enumeration definition

Enumerator
MPU9250_LOW_PASS_FILTER_0	bandwidth(Hz) fs(KHz) delay(ms) bandwidth(Hz) delay(ms) 11/01 8800 32 0.064 4000 0.04 10 3600 32 0.11 4000 0.04 00 250 8 0.97 4000 0.04
MPU9250_LOW_PASS_FILTER_1	00 184 1 2.9 188 1.9
MPU9250_LOW_PASS_FILTER_2	00 92 1 3.9 98 2.8
MPU9250_LOW_PASS_FILTER_3	00 41 1 5.9 42 4.8
MPU9250_LOW_PASS_FILTER_4	00 20 1 9.9 20 8.3
MPU9250_LOW_PASS_FILTER_5	00 10 1 17.85 10 13.4
MPU9250_LOW_PASS_FILTER_6	00 5 1 33.48 5 18.6
MPU9250_LOW_PASS_FILTER_7	00 3600 8 0.17 4000 0.04

Definition at line 137 of file driver_mpu9250.h.

mpu9250_low_power_accel_output_rate_t

enum mpu9250_low_power_accel_output_rate_t

mpu9250 low power accel output rate enumeration definition

Enumerator
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_0P24	0.24Hz
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_0P49	0.49Hz
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_0P98	0.98Hz
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_1P95	1.95Hz
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_3P91	3.91Hz
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_7P81	7.81Hz
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_15P63	15.63Hz
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_31P25	31.25Hz
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_62P50	62.50Hz
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_125	125Hz
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_250	250Hz
MPU9250_LOW_POWER_ACCEL_OUTPUT_RATE_500	500Hz

Definition at line 170 of file driver_mpu9250.h.

mpu9250_pin_level_t

enum mpu9250_pin_level_t

mpu9250 pin level enumeration definition

Enumerator
MPU9250_PIN_LEVEL_HIGH	active low
MPU9250_PIN_LEVEL_LOW	active high

Definition at line 243 of file driver_mpu9250.h.

mpu9250_pin_type_t

enum mpu9250_pin_type_t

mpu9250 pin type enumeration definition

Enumerator
MPU9250_PIN_TYPE_PUSH_PULL	push pull
MPU9250_PIN_TYPE_OPEN_DRAIN	open drain

Definition at line 252 of file driver_mpu9250.h.

mpu9250_signal_path_reset_t

enum mpu9250_signal_path_reset_t

mpu9250 signal path reset enumeration definition

Enumerator
MPU9250_SIGNAL_PATH_RESET_TEMP	temperature sensor analog and digital signal paths
MPU9250_SIGNAL_PATH_RESET_ACCEL	accelerometer analog and digital signal paths
MPU9250_SIGNAL_PATH_RESET_GYRO	gyroscope analog and digital signal paths

Definition at line 112 of file driver_mpu9250.h.

mpu9250_source_t

enum mpu9250_source_t

mpu9250 source enumeration definition

Enumerator
MPU9250_SOURCE_ACC_X	accelerometer x
MPU9250_SOURCE_ACC_Y	accelerometer y
MPU9250_SOURCE_ACC_Z	accelerometer z
MPU9250_SOURCE_GYRO_X	gyroscope x
MPU9250_SOURCE_GYRO_Y	gyroscope y
MPU9250_SOURCE_GYRO_Z	gyroscope z

Definition at line 89 of file driver_mpu9250.h.

Function Documentation

mpu9250_accelerometer_offset_convert_to_data()

uint8_t mpu9250_accelerometer_offset_convert_to_data	(	mpu9250_handle_t *	handle,
		int16_t	reg,
		float *	mg )

convert the register raw data to the accelerometer offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	reg	register raw data
[out]	*mg	pointer to an accelerometer offset buffer

Returns

status code

• 0 success
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9662 of file driver_mpu9250.c.

mpu9250_accelerometer_offset_convert_to_register()

uint8_t mpu9250_accelerometer_offset_convert_to_register	(	mpu9250_handle_t *	handle,
		float	mg,
		int16_t *	reg )

convert the accelerometer offset to the register raw data

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	mg	accelerometer offset
[out]	*reg	pointer to a register raw buffer

Returns

status code

• 0 success
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9635 of file driver_mpu9250.c.

mpu9250_deinit()

uint8_t mpu9250_deinit

(

mpu9250_handle_t *

handle

)

close the chip

Parameters

[in]

*handle

pointer to an mpu9250 handle structure

Returns

status code

• 0 success
• 1 deinit failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 enter sleep mode failed

Note

none

Definition at line 4167 of file driver_mpu9250.c.

mpu9250_device_reset()

uint8_t mpu9250_device_reset

(

mpu9250_handle_t *

handle

)

reset the chip

Parameters

[in]

*handle

pointer to an mpu9250 handle structure

Returns

status code

• 0 success
• 1 device reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6284 of file driver_mpu9250.c.

mpu9250_fifo_get()

uint8_t mpu9250_fifo_get	(	mpu9250_handle_t *	handle,
		uint8_t *	buf,
		uint16_t	len )

fifo read bytes

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*buf	pointer to a data buffer
[in]	len	buffer length

Returns

status code

• 0 success
• 1 fifo read failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6898 of file driver_mpu9250.c.

mpu9250_fifo_reset()

uint8_t mpu9250_fifo_reset

(

mpu9250_handle_t *

handle

)

reset the fifo

Parameters

[in]

*handle

pointer to an mpu9250 handle structure

Returns

status code

• 0 success
• 1 fifo reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6041 of file driver_mpu9250.c.

mpu9250_fifo_set()

uint8_t mpu9250_fifo_set	(	mpu9250_handle_t *	handle,
		uint8_t *	buf,
		uint16_t	len )

fifo write bytes

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	*buf	pointer to a data buffer
[in]	len	buffer length

Returns

status code

• 0 success
• 1 fifo write failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6934 of file driver_mpu9250.c.

mpu9250_force_fifo_reset()

uint8_t mpu9250_force_fifo_reset

(

mpu9250_handle_t *

handle

)

force reset the fifo

Parameters

[in]

*handle

pointer to an mpu9250 handle structure

Returns

status code

• 0 success
• 1 force fifo reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 5843 of file driver_mpu9250.c.

mpu9250_get_accel_compare_with_previous_sample()

uint8_t mpu9250_get_accel_compare_with_previous_sample	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the accel compare with previous sample status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get accel compare with previous sample failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8176 of file driver_mpu9250.c.

mpu9250_get_accelerometer_choice()

uint8_t mpu9250_get_accelerometer_choice	(	mpu9250_handle_t *	handle,
		uint8_t *	choice )

get the accelerometer choice

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*choice	pointer to an accelerometer choice buffer

Returns

status code

• 0 success
• 1 get accelerometer choice failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 choice > 3

Note

none

Definition at line 7848 of file driver_mpu9250.c.

mpu9250_get_accelerometer_low_pass_filter()

uint8_t mpu9250_get_accelerometer_low_pass_filter	(	mpu9250_handle_t *	handle,
		mpu9250_accelerometer_low_pass_filter_t *	filter )

get the accelerometer low pass filter

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*filter	pointer to an accelerometer low pass filter buffer

Returns

status code

• 0 success
• 1 get accelerometer low pass filter failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7930 of file driver_mpu9250.c.

mpu9250_get_accelerometer_range()

uint8_t mpu9250_get_accelerometer_range	(	mpu9250_handle_t *	handle,
		mpu9250_accelerometer_range_t *	range )

get the accelerometer range

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*range	pointer to an accelerometer range buffer

Returns

status code

• 0 success
• 1 get accelerometer range failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7714 of file driver_mpu9250.c.

mpu9250_get_accelerometer_test()

uint8_t mpu9250_get_accelerometer_test	(	mpu9250_handle_t *	handle,
		mpu9250_axis_t	axis,
		mpu9250_bool_t *	enable )

get the accelerometer test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	axis	tested axis
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get accelerometer test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7632 of file driver_mpu9250.c.

mpu9250_get_accelerometer_x_offset()

uint8_t mpu9250_get_accelerometer_x_offset	(	mpu9250_handle_t *	handle,
		int16_t *	offset )

get the accelerometer x offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*offset	pointer to an accelerometer x offset buffer

Returns

status code

• 0 success
• 1 get accelerometer x offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9448 of file driver_mpu9250.c.

mpu9250_get_accelerometer_x_test()

uint8_t mpu9250_get_accelerometer_x_test	(	mpu9250_handle_t *	handle,
		uint8_t *	data )

get the accelerometer x test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get accelerometer x test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9235 of file driver_mpu9250.c.

mpu9250_get_accelerometer_y_offset()

uint8_t mpu9250_get_accelerometer_y_offset	(	mpu9250_handle_t *	handle,
		int16_t *	offset )

get the accelerometer y offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*offset	pointer to an accelerometer y offset buffer

Returns

status code

• 0 success
• 1 get accelerometer y offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9523 of file driver_mpu9250.c.

mpu9250_get_accelerometer_y_test()

uint8_t mpu9250_get_accelerometer_y_test	(	mpu9250_handle_t *	handle,
		uint8_t *	data )

get the accelerometer y test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get accelerometer y test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9305 of file driver_mpu9250.c.

mpu9250_get_accelerometer_z_offset()

uint8_t mpu9250_get_accelerometer_z_offset	(	mpu9250_handle_t *	handle,
		int16_t *	offset )

get the accelerometer z offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*offset	pointer to an accelerometer z offset buffer

Returns

status code

• 0 success
• 1 get accelerometer z offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9598 of file driver_mpu9250.c.

mpu9250_get_accelerometer_z_test()

uint8_t mpu9250_get_accelerometer_z_test	(	mpu9250_handle_t *	handle,
		uint8_t *	data )

get the accelerometer z test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get accelerometer z test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9375 of file driver_mpu9250.c.

mpu9250_get_addr_pin()

uint8_t mpu9250_get_addr_pin	(	mpu9250_handle_t *	handle,
		mpu9250_address_t *	addr_pin )

get the chip address pin

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*addr_pin	pointer to a chip address pin buffer

Returns

status code

• 0 success
• 2 handle is NULL

Note

none

Definition at line 3984 of file driver_mpu9250.c.

mpu9250_get_clock_source()

uint8_t mpu9250_get_clock_source	(	mpu9250_handle_t *	handle,
		mpu9250_clock_source_t *	clock_source )

get the chip clock source

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*clock_source	pointer to a clock source buffer

Returns

status code

• 0 success
• 1 get clock source failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6411 of file driver_mpu9250.c.

mpu9250_get_cycle_wake_up()

uint8_t mpu9250_get_cycle_wake_up	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the cycle wake up mode status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get cycle wake up failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6575 of file driver_mpu9250.c.

mpu9250_get_device_reset()

uint8_t mpu9250_get_device_reset	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the device reset status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get device reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6329 of file driver_mpu9250.c.

mpu9250_get_disable_iic_slave()

uint8_t mpu9250_get_disable_iic_slave	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the iic slave status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get disable iic slave failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6005 of file driver_mpu9250.c.

mpu9250_get_extern_sync()

uint8_t mpu9250_get_extern_sync	(	mpu9250_handle_t *	handle,
		mpu9250_extern_sync_t *	sync )

get the extern sync type

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*sync	pointer to an extern sync type buffer

Returns

status code

• 0 success
• 1 get extern sync failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7129 of file driver_mpu9250.c.

mpu9250_get_fifo()

uint8_t mpu9250_get_fifo	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the fifo status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get fifo failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 5807 of file driver_mpu9250.c.

mpu9250_get_fifo_count()

uint8_t mpu9250_get_fifo_count	(	mpu9250_handle_t *	handle,
		uint16_t *	count )

get the fifo counter value

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*count	pointer to a fifo count buffer

Returns

status code

• 0 success
• 1 get fifo count failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6860 of file driver_mpu9250.c.

mpu9250_get_fifo_enable()

uint8_t mpu9250_get_fifo_enable	(	mpu9250_handle_t *	handle,
		mpu9250_fifo_t	fifo,
		mpu9250_bool_t *	enable )

get the fifo function status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	fifo	fifo type
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get fifo enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8260 of file driver_mpu9250.c.

mpu9250_get_fifo_mode()

uint8_t mpu9250_get_fifo_mode	(	mpu9250_handle_t *	handle,
		mpu9250_fifo_mode *	mode )

get the fifo mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*mode	pointer to a fifo mode buffer

Returns

status code

• 0 success
• 1 get fifo mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7293 of file driver_mpu9250.c.

mpu9250_get_fifo_reset()

uint8_t mpu9250_get_fifo_reset	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the fifo reset status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get fifo reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6086 of file driver_mpu9250.c.

mpu9250_get_fsync_interrupt()

uint8_t mpu9250_get_fsync_interrupt	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the fsync interrupt status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get fsync interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8752 of file driver_mpu9250.c.

mpu9250_get_fsync_interrupt_level()

uint8_t mpu9250_get_fsync_interrupt_level	(	mpu9250_handle_t *	handle,
		mpu9250_pin_level_t *	level )

get the fsync interrupt level

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*level	pointer to a set level buffer

Returns

status code

• 0 success
• 1 get fsync interrupt level failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8670 of file driver_mpu9250.c.

mpu9250_get_gyro_standby()

uint8_t mpu9250_get_gyro_standby	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the gyro standby status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get gyro standby failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6739 of file driver_mpu9250.c.

mpu9250_get_gyro_x_offset()

uint8_t mpu9250_get_gyro_x_offset	(	mpu9250_handle_t *	handle,
		int16_t *	offset )

get the gyro x offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*offset	pointer to a gyro x offset buffer

Returns

status code

• 0 success
• 1 get gyro x offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9727 of file driver_mpu9250.c.

mpu9250_get_gyro_y_offset()

uint8_t mpu9250_get_gyro_y_offset	(	mpu9250_handle_t *	handle,
		int16_t *	offset )

get the gyro y offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*offset	pointer to a gyro y offset buffer

Returns

status code

• 0 success
• 1 get gyro y offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9802 of file driver_mpu9250.c.

mpu9250_get_gyro_z_offset()

uint8_t mpu9250_get_gyro_z_offset	(	mpu9250_handle_t *	handle,
		int16_t *	offset )

get the gyro z offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*offset	pointer to a gyro z offset buffer

Returns

status code

• 0 success
• 1 get gyro z offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9877 of file driver_mpu9250.c.

mpu9250_get_gyroscope_choice()

uint8_t mpu9250_get_gyroscope_choice	(	mpu9250_handle_t *	handle,
		uint8_t *	choice )

get the gyroscope choice

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*choice	pointer to a gyroscope choice buffer

Returns

status code

• 0 success
• 1 get gyroscope choice failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7548 of file driver_mpu9250.c.

mpu9250_get_gyroscope_range()

uint8_t mpu9250_get_gyroscope_range	(	mpu9250_handle_t *	handle,
		mpu9250_gyroscope_range_t *	range )

get the gyroscope range

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*range	pointer to a gyroscope range buffer

Returns

status code

• 0 success
• 1 get gyroscope range failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7459 of file driver_mpu9250.c.

mpu9250_get_gyroscope_test()

uint8_t mpu9250_get_gyroscope_test	(	mpu9250_handle_t *	handle,
		mpu9250_axis_t	axis,
		mpu9250_bool_t *	enable )

get the gyroscope test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	axis	tested axis
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get gyroscope test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7377 of file driver_mpu9250.c.

mpu9250_get_gyroscope_x_test()

uint8_t mpu9250_get_gyroscope_x_test	(	mpu9250_handle_t *	handle,
		uint8_t *	data )

get the gyroscope x test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get gyroscope x test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9025 of file driver_mpu9250.c.

mpu9250_get_gyroscope_y_test()

uint8_t mpu9250_get_gyroscope_y_test	(	mpu9250_handle_t *	handle,
		uint8_t *	data )

get the gyroscope y test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get gyroscope y test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9095 of file driver_mpu9250.c.

mpu9250_get_gyroscope_z_test()

uint8_t mpu9250_get_gyroscope_z_test	(	mpu9250_handle_t *	handle,
		uint8_t *	data )

get the gyroscope z test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get gyroscope z test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9165 of file driver_mpu9250.c.

mpu9250_get_iic4_data_in()

uint8_t mpu9250_get_iic4_data_in	(	mpu9250_handle_t *	handle,
		uint8_t *	data )

get the iic4 data in

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get iic4 data in failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12953 of file driver_mpu9250.c.

mpu9250_get_iic4_data_out()

uint8_t mpu9250_get_iic4_data_out	(	mpu9250_handle_t *	handle,
		uint8_t *	data )

get the iic4 data out

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get iic4 data out failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12883 of file driver_mpu9250.c.

mpu9250_get_iic4_enable()

uint8_t mpu9250_get_iic4_enable	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the iic4 status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic4 enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12558 of file driver_mpu9250.c.

mpu9250_get_iic4_interrupt()

uint8_t mpu9250_get_iic4_interrupt	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the iic4 interrupt status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic4 interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12640 of file driver_mpu9250.c.

mpu9250_get_iic4_transaction_mode()

uint8_t mpu9250_get_iic4_transaction_mode	(	mpu9250_handle_t *	handle,
		mpu9250_iic4_transaction_mode_t *	mode )

get the iic4 transaction mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*mode	pointer to a transaction mode buffer

Returns

status code

• 0 success
• 1 get iic4 transaction mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12722 of file driver_mpu9250.c.

mpu9250_get_iic_address()

uint8_t mpu9250_get_iic_address	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		uint8_t *	addr_7bit )

get the iic address

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[out]	*addr_7bit	pointer to an iic address buffer

Returns

status code

• 0 success
• 1 get iic address failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 11003 of file driver_mpu9250.c.

mpu9250_get_iic_bypass()

uint8_t mpu9250_get_iic_bypass	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the iic bypass status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic bypass failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8834 of file driver_mpu9250.c.

mpu9250_get_iic_byte_swap()

uint8_t mpu9250_get_iic_byte_swap	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_bool_t *	enable )

get the iic byte swap status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic byte swap failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 11726 of file driver_mpu9250.c.

mpu9250_get_iic_clock()

uint8_t mpu9250_get_iic_clock	(	mpu9250_handle_t *	handle,
		mpu9250_iic_clock_t *	clk )

get the iic clock

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*clk	pointer to an iic clock buffer

Returns

status code

• 0 success
• 1 get iic clock failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10222 of file driver_mpu9250.c.

mpu9250_get_iic_data_out()

uint8_t mpu9250_get_iic_data_out	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		uint8_t *	data )

get the iic data out

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[out]	*data	pointer to a set data buffer

Returns

status code

• 0 success
• 1 get iic data out failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 11343 of file driver_mpu9250.c.

mpu9250_get_iic_delay()

uint8_t mpu9250_get_iic_delay	(	mpu9250_handle_t *	handle,
		uint8_t *	delay )

get the iic delay

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*delay	pointer to an iic delay buffer

Returns

status code

• 0 success
• 1 get iic delay failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12811 of file driver_mpu9250.c.

mpu9250_get_iic_delay_enable()

uint8_t mpu9250_get_iic_delay_enable	(	mpu9250_handle_t *	handle,
		mpu9250_iic_delay_t	delay,
		mpu9250_bool_t *	enable )

get the iic delay status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	delay	iic delay
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic delay enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12476 of file driver_mpu9250.c.

mpu9250_get_iic_enable()

uint8_t mpu9250_get_iic_enable	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_bool_t *	enable )

get the iic status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic enable failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 11532 of file driver_mpu9250.c.

mpu9250_get_iic_fifo_enable()

uint8_t mpu9250_get_iic_fifo_enable	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_bool_t *	enable )

get the iic fifo status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic fifo enable failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 10585 of file driver_mpu9250.c.

mpu9250_get_iic_group_order()

uint8_t mpu9250_get_iic_group_order	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_iic_group_order_t *	order )

get the iic group order

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[out]	*order	pointer to a group order buffer

Returns

status code

• 0 success
• 1 get iic group order failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 12114 of file driver_mpu9250.c.

mpu9250_get_iic_master()

uint8_t mpu9250_get_iic_master	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the iic master status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic master failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 5923 of file driver_mpu9250.c.

mpu9250_get_iic_master_reset()

uint8_t mpu9250_get_iic_master_reset	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the iic master reset status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic master reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6167 of file driver_mpu9250.c.

mpu9250_get_iic_mode()

uint8_t mpu9250_get_iic_mode	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_iic_mode_t *	mode )

get the iic mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[out]	*mode	pointer to an iic mode buffer

Returns

status code

• 0 success
• 1 get iic mode failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 10779 of file driver_mpu9250.c.

mpu9250_get_iic_multi_master()

uint8_t mpu9250_get_iic_multi_master	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the iic multi master status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic multi master failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10304 of file driver_mpu9250.c.

mpu9250_get_iic_read_mode()

uint8_t mpu9250_get_iic_read_mode	(	mpu9250_handle_t *	handle,
		mpu9250_iic_read_mode_t *	mode )

get the iic read mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*mode	pointer to a read mode buffer

Returns

status code

• 0 success
• 1 get iic read mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10468 of file driver_mpu9250.c.

mpu9250_get_iic_register()

uint8_t mpu9250_get_iic_register	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		uint8_t *	reg )

get the iic register

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[out]	*reg	pointer to an iic register buffer

Returns

status code

• 0 success
• 1 get iic register failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 11181 of file driver_mpu9250.c.

mpu9250_get_iic_status()

uint8_t mpu9250_get_iic_status	(	mpu9250_handle_t *	handle,
		uint8_t *	status )

get the iic status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*status	pointer to a status buffer

Returns

status code

• 0 success
• 1 get iic status failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12394 of file driver_mpu9250.c.

mpu9250_get_iic_transaction_mode()

uint8_t mpu9250_get_iic_transaction_mode	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_iic_transaction_mode_t *	mode )

get the iic transaction mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[out]	*mode	pointer to an iic transaction mode buffer

Returns

status code

• 0 success
• 1 get iic transaction mode failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 11920 of file driver_mpu9250.c.

mpu9250_get_iic_transferred_len()

uint8_t mpu9250_get_iic_transferred_len	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		uint8_t *	len )

get the iic transferred length

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[out]	*len	pointer to an iic transferred length buffer

Returns

status code

• 0 success
• 1 get iic transferred len failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 12315 of file driver_mpu9250.c.

mpu9250_get_iic_wait_for_external_sensor()

uint8_t mpu9250_get_iic_wait_for_external_sensor	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the iic wait for external sensor status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get iic wait for external sensor failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10386 of file driver_mpu9250.c.

mpu9250_get_interface()

uint8_t mpu9250_get_interface	(	mpu9250_handle_t *	handle,
		mpu9250_interface_t *	interface )

get the chip interface

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*interface	pointer to a chip interface buffer

Returns

status code

• 0 success
• 2 handle is NULL

Note

none

Definition at line 3942 of file driver_mpu9250.c.

mpu9250_get_interrupt()

uint8_t mpu9250_get_interrupt	(	mpu9250_handle_t *	handle,
		mpu9250_interrupt_t	type,
		mpu9250_bool_t *	enable )

get the interrupt status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	type	set interrupt type
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8918 of file driver_mpu9250.c.

mpu9250_get_interrupt_latch()

uint8_t mpu9250_get_interrupt_latch	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the interrupt latch status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get interrupt latch failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8506 of file driver_mpu9250.c.

mpu9250_get_interrupt_level()

uint8_t mpu9250_get_interrupt_level	(	mpu9250_handle_t *	handle,
		mpu9250_pin_level_t *	level )

get the interrupt level

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*level	pointer to an interrupt level buffer

Returns

status code

• 0 success
• 1 get interrupt level failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8342 of file driver_mpu9250.c.

mpu9250_get_interrupt_pin_type()

uint8_t mpu9250_get_interrupt_pin_type	(	mpu9250_handle_t *	handle,
		mpu9250_pin_type_t *	type )

get the interrupt pin type

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*type	pointer to a pin type buffer

Returns

status code

• 0 success
• 1 get interrupt pin type failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8424 of file driver_mpu9250.c.

mpu9250_get_interrupt_read_clear()

uint8_t mpu9250_get_interrupt_read_clear	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the interrupt reading clear status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get interrupt read clear failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8588 of file driver_mpu9250.c.

mpu9250_get_interrupt_status()

uint8_t mpu9250_get_interrupt_status	(	mpu9250_handle_t *	handle,
		uint8_t *	status )

get the interrupt status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*status	pointer to a status buffer

Returns

status code

• 0 success
• 1 get interrupt status failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8955 of file driver_mpu9250.c.

mpu9250_get_low_pass_filter()

uint8_t mpu9250_get_low_pass_filter	(	mpu9250_handle_t *	handle,
		mpu9250_low_pass_filter_t *	filter )

get the low pass filter

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*filter	pointer to a low pass filter buffer

Returns

status code

• 0 success
• 1 get low pass filter failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7211 of file driver_mpu9250.c.

mpu9250_get_low_power_accel_output_rate()

uint8_t mpu9250_get_low_power_accel_output_rate	(	mpu9250_handle_t *	handle,
		mpu9250_low_power_accel_output_rate_t *	rate )

get the low power accel output rate

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*rate	pointer to a low power accel output rate buffer

Returns

status code

• 0 success
• 1 get low power accel output rate failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8012 of file driver_mpu9250.c.

mpu9250_get_motion_threshold()

uint8_t mpu9250_get_motion_threshold	(	mpu9250_handle_t *	handle,
		uint8_t *	threshold )

get the motion_threshold

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*threshold	pointer to a threshold buffer

Returns

status code

• 0 success
• 1 get motion threshold failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10003 of file driver_mpu9250.c.

mpu9250_get_ptat()

uint8_t mpu9250_get_ptat	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the temperature sensor status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get temperature sensor failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6493 of file driver_mpu9250.c.

mpu9250_get_sample_rate_divider()

uint8_t mpu9250_get_sample_rate_divider	(	mpu9250_handle_t *	handle,
		uint8_t *	d )

get the sample rate divider

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*d	pointer to a sample rate divider buffer

Returns

status code

• 0 success
• 1 get sample rate divider failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7049 of file driver_mpu9250.c.

mpu9250_get_sensor_reset()

uint8_t mpu9250_get_sensor_reset	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the sensor reset status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get sensor reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6248 of file driver_mpu9250.c.

mpu9250_get_sleep()

uint8_t mpu9250_get_sleep	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the sleep status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get sleep failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6657 of file driver_mpu9250.c.

mpu9250_get_standby_mode()

uint8_t mpu9250_get_standby_mode	(	mpu9250_handle_t *	handle,
		mpu9250_source_t	source,
		mpu9250_bool_t *	enable )

get the source mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	source	input source
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get standby mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6823 of file driver_mpu9250.c.

mpu9250_get_wake_on_motion()

uint8_t mpu9250_get_wake_on_motion	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t *	enable )

get the wake on motion status

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*enable	pointer to a bool value buffer

Returns

status code

• 0 success
• 1 get wake on motion failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8094 of file driver_mpu9250.c.

mpu9250_gyro_offset_convert_to_data()

uint8_t mpu9250_gyro_offset_convert_to_data	(	mpu9250_handle_t *	handle,
		int16_t	reg,
		float *	dps )

convert the register raw data to the gyro offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	reg	register raw data
[out]	*dps	pointer to a gyro offset buffer

Returns

status code

• 0 success
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9941 of file driver_mpu9250.c.

mpu9250_gyro_offset_convert_to_register()

uint8_t mpu9250_gyro_offset_convert_to_register	(	mpu9250_handle_t *	handle,
		float	dps,
		int16_t *	reg )

convert the gyro offset to the register raw data

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	dps	gyro offset
[out]	*reg	pointer to a register raw buffer

Returns

status code

• 0 success
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9914 of file driver_mpu9250.c.

mpu9250_iic_master_reset()

uint8_t mpu9250_iic_master_reset

(

mpu9250_handle_t *

handle

)

reset the iic master controller

Parameters

[in]

*handle

pointer to an mpu9250 handle structure

Returns

status code

• 0 success
• 1 iic master reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6122 of file driver_mpu9250.c.

mpu9250_info()

uint8_t mpu9250_info

(

mpu9250_info_t *

info

)

get the chip's information

Parameters

[out]

*info

pointer to an mpu9250 info structure

Returns

status code

• 0 success
• 2 handle is NULL

Note

none

Definition at line 13082 of file driver_mpu9250.c.

mpu9250_init()

uint8_t mpu9250_init

(

mpu9250_handle_t *

handle

)

initialize the chip

Parameters

[in]

*handle

pointer to an mpu9250 handle structure

Returns

status code

• 0 success
• 1 iic or spi initialization failed
• 2 handle is NULL
• 3 linked functions is NULL
• 4 reset failed
• 5 id is invalid

Note

none

Definition at line 4008 of file driver_mpu9250.c.

mpu9250_irq_handler()

uint8_t mpu9250_irq_handler

(

mpu9250_handle_t *

handle

)

irq handler

Parameters

[in]

*handle

pointer to an mpu9250 handle structure

Returns

status code

• 0 success
• 1 run failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 4667 of file driver_mpu9250.c.

mpu9250_motion_threshold_convert_to_data()

uint8_t mpu9250_motion_threshold_convert_to_data	(	mpu9250_handle_t *	handle,
		uint8_t	reg,
		float *	mg )

convert the register raw data to the motion threshold

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	reg	register raw data
[out]	*mg	pointer to a motion threshold buffer

Returns

status code

• 0 success
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10065 of file driver_mpu9250.c.

mpu9250_motion_threshold_convert_to_register()

uint8_t mpu9250_motion_threshold_convert_to_register	(	mpu9250_handle_t *	handle,
		float	mg,
		uint8_t *	reg )

convert the motion threshold to the register raw data

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	mg	motion threshold
[out]	*reg	pointer to a register raw buffer

Returns

status code

• 0 success
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10038 of file driver_mpu9250.c.

mpu9250_read()

uint8_t mpu9250_read	(	mpu9250_handle_t *	handle,
		int16_t(*)	accel_raw[3],
		float(*)	accel_g[3],
		int16_t(*)	gyro_raw[3],
		float(*)	gyro_dps[3],
		int16_t(*)	mag_raw[3],
		float(*)	mag_ut[3],
		uint16_t *	len )

read the data

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	**accel_raw	pointer to an accel raw data buffer
[out]	**accel_g	pointer to a converted accel data buffer
[out]	**gyro_raw	pointer to a gyro raw data buffer
[out]	**gyro_dps	pointer to a converted gyro data buffer
[out]	**mag_raw	pointer to a mag raw data buffer
[out]	**mag_ut	pointer to a converted mag data buffer
[in,out]	*len	pointer to a length buffer

Returns

status code

• 0 success
• 1 read failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 length is zero
• 5 dmp is running
• 6 fifo conf is error

Note

spi can't read mag data

Definition at line 4222 of file driver_mpu9250.c.

mpu9250_read_extern_sensor_data()

uint8_t mpu9250_read_extern_sensor_data	(	mpu9250_handle_t *	handle,
		uint8_t *	data,
		uint8_t	len )

read the extern sensor data

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*data	pointer to a data buffer
[in]	len	data length

Returns

status code

• 0 success
• 1 read extern sensor data failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 len > 24

Note

none

Definition at line 12990 of file driver_mpu9250.c.

mpu9250_read_temperature()

uint8_t mpu9250_read_temperature	(	mpu9250_handle_t *	handle,
		int16_t *	raw,
		float *	degrees )

read the temperature

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*raw	pointer to raw data buffer
[out]	*degrees	pointer to a converted degrees data buffer

Returns

status code

• 0 success
• 1 read failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 4630 of file driver_mpu9250.c.

mpu9250_self_test()

uint8_t mpu9250_self_test	(	mpu9250_handle_t *	handle,
		int32_t	gyro_offset_raw[3],
		int32_t	accel_offset_raw[3] )

run the self test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[out]	*gyro_offset_raw	pointer to a gyro offset raw buffer
[out]	*accel_offset_raw	pointer to an accel offset raw buffer

Returns

status code

• 0 success
• 1 self test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10093 of file driver_mpu9250.c.

mpu9250_sensor_reset()

uint8_t mpu9250_sensor_reset

(

mpu9250_handle_t *

handle

)

reset all sensors

Parameters

[in]

*handle

pointer to an mpu9250 handle structure

Returns

status code

• 0 success
• 1 sensor reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6203 of file driver_mpu9250.c.

mpu9250_set_accel_compare_with_previous_sample()

uint8_t mpu9250_set_accel_compare_with_previous_sample	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable accel compare with previous sample

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set accel compare with previous sample failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8131 of file driver_mpu9250.c.

mpu9250_set_accelerometer_choice()

uint8_t mpu9250_set_accelerometer_choice	(	mpu9250_handle_t *	handle,
		uint8_t	choice )

set the accelerometer choice

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	choice	accelerometer choice

Returns

status code

• 0 success
• 1 set accelerometer choice failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 choice > 1

Note

none

Definition at line 7796 of file driver_mpu9250.c.

mpu9250_set_accelerometer_low_pass_filter()

uint8_t mpu9250_set_accelerometer_low_pass_filter	(	mpu9250_handle_t *	handle,
		mpu9250_accelerometer_low_pass_filter_t	filter )

set the accelerometer low pass filter

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	filter	accelerometer low pass filter

Returns

status code

• 0 success
• 1 set accelerometer low pass filter failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7885 of file driver_mpu9250.c.

mpu9250_set_accelerometer_range()

uint8_t mpu9250_set_accelerometer_range	(	mpu9250_handle_t *	handle,
		mpu9250_accelerometer_range_t	range )

set the accelerometer range

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	range	accelerometer range

Returns

status code

• 0 success
• 1 set accelerometer range failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7669 of file driver_mpu9250.c.

mpu9250_set_accelerometer_test()

uint8_t mpu9250_set_accelerometer_test	(	mpu9250_handle_t *	handle,
		mpu9250_axis_t	axis,
		mpu9250_bool_t	enable )

set the accelerometer test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	axis	tested axis
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set accelerometer test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7586 of file driver_mpu9250.c.

mpu9250_set_accelerometer_x_offset()

uint8_t mpu9250_set_accelerometer_x_offset	(	mpu9250_handle_t *	handle,
		int16_t	offset )

set the accelerometer x offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	offset	accelerometer x offset

Returns

status code

• 0 success
• 1 set accelerometer x offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9410 of file driver_mpu9250.c.

mpu9250_set_accelerometer_x_test()

uint8_t mpu9250_set_accelerometer_x_test	(	mpu9250_handle_t *	handle,
		uint8_t	data )

set the accelerometer x test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set accelerometer x test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9200 of file driver_mpu9250.c.

mpu9250_set_accelerometer_y_offset()

uint8_t mpu9250_set_accelerometer_y_offset	(	mpu9250_handle_t *	handle,
		int16_t	offset )

set the accelerometer y offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	offset	accelerometer y offset

Returns

status code

• 0 success
• 1 set accelerometer y offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9485 of file driver_mpu9250.c.

mpu9250_set_accelerometer_y_test()

uint8_t mpu9250_set_accelerometer_y_test	(	mpu9250_handle_t *	handle,
		uint8_t	data )

set the accelerometer y test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set accelerometer y test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9270 of file driver_mpu9250.c.

mpu9250_set_accelerometer_z_offset()

uint8_t mpu9250_set_accelerometer_z_offset	(	mpu9250_handle_t *	handle,
		int16_t	offset )

set the accelerometer z offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	offset	accelerometer z offset

Returns

status code

• 0 success
• 1 set accelerometer z offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9560 of file driver_mpu9250.c.

mpu9250_set_accelerometer_z_test()

uint8_t mpu9250_set_accelerometer_z_test	(	mpu9250_handle_t *	handle,
		uint8_t	data )

set the accelerometer z test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set accelerometer z test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9340 of file driver_mpu9250.c.

mpu9250_set_addr_pin()

uint8_t mpu9250_set_addr_pin	(	mpu9250_handle_t *	handle,
		mpu9250_address_t	addr_pin )

set the chip address pin

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	addr_pin	chip address pin

Returns

status code

• 0 success
• 2 handle is NULL

Note

none

Definition at line 3963 of file driver_mpu9250.c.

mpu9250_set_clock_source()

uint8_t mpu9250_set_clock_source	(	mpu9250_handle_t *	handle,
		mpu9250_clock_source_t	clock_source )

set the chip clock source

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	clock_source	chip main clock source

Returns

status code

• 0 success
• 1 set clock source failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6366 of file driver_mpu9250.c.

mpu9250_set_cycle_wake_up()

uint8_t mpu9250_set_cycle_wake_up	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the cycle wake up mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set cycle wake up failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6530 of file driver_mpu9250.c.

mpu9250_set_disable_iic_slave()

uint8_t mpu9250_set_disable_iic_slave	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the iic slave mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set disable iic slave failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 5960 of file driver_mpu9250.c.

mpu9250_set_extern_sync()

uint8_t mpu9250_set_extern_sync	(	mpu9250_handle_t *	handle,
		mpu9250_extern_sync_t	sync )

set the extern sync type

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	sync	extern sync type

Returns

status code

• 0 success
• 1 set extern sync failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7084 of file driver_mpu9250.c.

mpu9250_set_fifo()

uint8_t mpu9250_set_fifo	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable fifo

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set fifo failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 5762 of file driver_mpu9250.c.

mpu9250_set_fifo_1024kb()

uint8_t mpu9250_set_fifo_1024kb

(

mpu9250_handle_t *

handle

)

set fifo 1024kb

Parameters

[in]

*handle

pointer to an mpu9250 handle structure

Returns

status code

• 0 success
• 1 set fifo 1024kb failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7750 of file driver_mpu9250.c.

mpu9250_set_fifo_enable()

uint8_t mpu9250_set_fifo_enable	(	mpu9250_handle_t *	handle,
		mpu9250_fifo_t	fifo,
		mpu9250_bool_t	enable )

enable or disable the fifo function

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	fifo	fifo type
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set fifo enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8214 of file driver_mpu9250.c.

mpu9250_set_fifo_mode()

uint8_t mpu9250_set_fifo_mode	(	mpu9250_handle_t *	handle,
		mpu9250_fifo_mode	mode )

set the fifo mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	mode	fifo mode

Returns

status code

• 0 success
• 1 set fifo mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7248 of file driver_mpu9250.c.

mpu9250_set_fsync_interrupt()

uint8_t mpu9250_set_fsync_interrupt	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the fsync interrupt

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set fsync interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8707 of file driver_mpu9250.c.

mpu9250_set_fsync_interrupt_level()

uint8_t mpu9250_set_fsync_interrupt_level	(	mpu9250_handle_t *	handle,
		mpu9250_pin_level_t	level )

set the fsync interrupt level

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	level	set level

Returns

status code

• 0 success
• 1 set fsync interrupt level failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8625 of file driver_mpu9250.c.

mpu9250_set_gyro_standby()

uint8_t mpu9250_set_gyro_standby	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the gyro standby

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set gyro standby failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6694 of file driver_mpu9250.c.

mpu9250_set_gyro_x_offset()

uint8_t mpu9250_set_gyro_x_offset	(	mpu9250_handle_t *	handle,
		int16_t	offset )

set the gyro x offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	offset	gyro x offset

Returns

status code

• 0 success
• 1 set gyro x offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9689 of file driver_mpu9250.c.

mpu9250_set_gyro_y_offset()

uint8_t mpu9250_set_gyro_y_offset	(	mpu9250_handle_t *	handle,
		int16_t	offset )

set the gyro y offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	offset	gyro y offset

Returns

status code

• 0 success
• 1 set gyro y offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9764 of file driver_mpu9250.c.

mpu9250_set_gyro_z_offset()

uint8_t mpu9250_set_gyro_z_offset	(	mpu9250_handle_t *	handle,
		int16_t	offset )

set the gyro z offset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	offset	gyro z offset

Returns

status code

• 0 success
• 1 set gyro z offset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9839 of file driver_mpu9250.c.

mpu9250_set_gyroscope_choice()

uint8_t mpu9250_set_gyroscope_choice	(	mpu9250_handle_t *	handle,
		uint8_t	choice )

set the gyroscope choice

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	choice	gyroscope choice

Returns

status code

• 0 success
• 1 set gyroscope choice failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 choice > 3

Note

none

Definition at line 7497 of file driver_mpu9250.c.

mpu9250_set_gyroscope_range()

uint8_t mpu9250_set_gyroscope_range	(	mpu9250_handle_t *	handle,
		mpu9250_gyroscope_range_t	range )

set the gyroscope range

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	range	gyroscope range

Returns

status code

• 0 success
• 1 set gyroscope range failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7414 of file driver_mpu9250.c.

mpu9250_set_gyroscope_test()

uint8_t mpu9250_set_gyroscope_test	(	mpu9250_handle_t *	handle,
		mpu9250_axis_t	axis,
		mpu9250_bool_t	enable )

set the gyroscope test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	axis	tested axis
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set gyroscope test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7331 of file driver_mpu9250.c.

mpu9250_set_gyroscope_x_test()

uint8_t mpu9250_set_gyroscope_x_test	(	mpu9250_handle_t *	handle,
		uint8_t	data )

set the gyroscope x test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set gyroscope x test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8990 of file driver_mpu9250.c.

mpu9250_set_gyroscope_y_test()

uint8_t mpu9250_set_gyroscope_y_test	(	mpu9250_handle_t *	handle,
		uint8_t	data )

set the gyroscope y test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set gyroscope y test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9060 of file driver_mpu9250.c.

mpu9250_set_gyroscope_z_test()

uint8_t mpu9250_set_gyroscope_z_test	(	mpu9250_handle_t *	handle,
		uint8_t	data )

set the gyroscope z test

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set gyroscope z test failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9130 of file driver_mpu9250.c.

mpu9250_set_iic4_data_in()

uint8_t mpu9250_set_iic4_data_in	(	mpu9250_handle_t *	handle,
		uint8_t	data )

set the iic4 data in

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set iic4 data in failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12918 of file driver_mpu9250.c.

mpu9250_set_iic4_data_out()

uint8_t mpu9250_set_iic4_data_out	(	mpu9250_handle_t *	handle,
		uint8_t	data )

set the iic4 data out

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	data	set data

Returns

status code

• 0 success
• 1 set iic4 data out failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12848 of file driver_mpu9250.c.

mpu9250_set_iic4_enable()

uint8_t mpu9250_set_iic4_enable	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the iic4

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic4 enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12513 of file driver_mpu9250.c.

mpu9250_set_iic4_interrupt()

uint8_t mpu9250_set_iic4_interrupt	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the iic4 interrupt

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic4 interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12595 of file driver_mpu9250.c.

mpu9250_set_iic4_transaction_mode()

uint8_t mpu9250_set_iic4_transaction_mode	(	mpu9250_handle_t *	handle,
		mpu9250_iic4_transaction_mode_t	mode )

set the iic4 transaction mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	mode	transaction mode

Returns

status code

• 0 success
• 1 set iic4 transaction mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12677 of file driver_mpu9250.c.

mpu9250_set_iic_address()

uint8_t mpu9250_set_iic_address	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		uint8_t	addr_7bit )

set the iic address

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[in]	addr_7bit	iic address

Returns

status code

• 0 success
• 1 set iic address failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 10871 of file driver_mpu9250.c.

mpu9250_set_iic_bypass()

uint8_t mpu9250_set_iic_bypass	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the iic bypass

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic bypass failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8789 of file driver_mpu9250.c.

mpu9250_set_iic_byte_swap()

uint8_t mpu9250_set_iic_byte_swap	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_bool_t	enable )

enable or disable the iic byte swap

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic byte swap failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 11613 of file driver_mpu9250.c.

mpu9250_set_iic_clock()

uint8_t mpu9250_set_iic_clock	(	mpu9250_handle_t *	handle,
		mpu9250_iic_clock_t	clk )

set the iic clock

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	clk	iic clock

Returns

status code

• 0 success
• 1 set iic clock failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10177 of file driver_mpu9250.c.

mpu9250_set_iic_data_out()

uint8_t mpu9250_set_iic_data_out	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		uint8_t	data )

set the iic data out

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[in]	data	set data

Returns

status code

• 0 success
• 1 set iic data out failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 11267 of file driver_mpu9250.c.

mpu9250_set_iic_delay()

uint8_t mpu9250_set_iic_delay	(	mpu9250_handle_t *	handle,
		uint8_t	delay )

set the iic delay

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	delay	iic delay

Returns

status code

• 0 success
• 1 set iic delay failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 delay > 0x1F

Note

none

Definition at line 12760 of file driver_mpu9250.c.

mpu9250_set_iic_delay_enable()

uint8_t mpu9250_set_iic_delay_enable	(	mpu9250_handle_t *	handle,
		mpu9250_iic_delay_t	delay,
		mpu9250_bool_t	enable )

enable or disable the iic delay

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	delay	iic delay
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic delay enable failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 12430 of file driver_mpu9250.c.

mpu9250_set_iic_enable()

uint8_t mpu9250_set_iic_enable	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_bool_t	enable )

enable or disable the iic

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic enable failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 11419 of file driver_mpu9250.c.

mpu9250_set_iic_fifo_enable()

uint8_t mpu9250_set_iic_fifo_enable	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_bool_t	enable )

enable or disable the iic fifo

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic fifo enable failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 10507 of file driver_mpu9250.c.

mpu9250_set_iic_group_order()

uint8_t mpu9250_set_iic_group_order	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_iic_group_order_t	order )

set the iic group order

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[in]	order	group order

Returns

status code

• 0 success
• 1 set iic group order failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 12001 of file driver_mpu9250.c.

mpu9250_set_iic_master()

uint8_t mpu9250_set_iic_master	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the iic master mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic master failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 5878 of file driver_mpu9250.c.

mpu9250_set_iic_mode()

uint8_t mpu9250_set_iic_mode	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_iic_mode_t	mode )

set the iic mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[in]	mode	iic mode

Returns

status code

• 0 success
• 1 set iic mode failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 10647 of file driver_mpu9250.c.

mpu9250_set_iic_multi_master()

uint8_t mpu9250_set_iic_multi_master	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable iic multi master

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic multi master failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10259 of file driver_mpu9250.c.

mpu9250_set_iic_read_mode()

uint8_t mpu9250_set_iic_read_mode	(	mpu9250_handle_t *	handle,
		mpu9250_iic_read_mode_t	mode )

set the iic read mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	mode	read mode

Returns

status code

• 0 success
• 1 set iic read mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10423 of file driver_mpu9250.c.

mpu9250_set_iic_register()

uint8_t mpu9250_set_iic_register	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		uint8_t	reg )

set the iic register

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[in]	reg	iic register

Returns

status code

• 0 success
• 1 set iic register failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 11095 of file driver_mpu9250.c.

mpu9250_set_iic_transaction_mode()

uint8_t mpu9250_set_iic_transaction_mode	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		mpu9250_iic_transaction_mode_t	mode )

set the iic transaction mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[in]	mode	iic transaction mode

Returns

status code

• 0 success
• 1 set iic transaction mode failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave

Note

none

Definition at line 11807 of file driver_mpu9250.c.

mpu9250_set_iic_transferred_len()

uint8_t mpu9250_set_iic_transferred_len	(	mpu9250_handle_t *	handle,
		mpu9250_iic_slave_t	slave,
		uint8_t	len )

set the iic transferred length

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	slave	iic slave number
[in]	len	iic transferred length

Returns

status code

• 0 success
• 1 set iic transferred len failed
• 2 handle is NULL
• 3 handle is not initialized
• 4 invalid slave
• 5 len > 0xF

Note

none

Definition at line 12196 of file driver_mpu9250.c.

mpu9250_set_iic_wait_for_external_sensor()

uint8_t mpu9250_set_iic_wait_for_external_sensor	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable iic wait for external sensor

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set iic wait for external sensor failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 10341 of file driver_mpu9250.c.

mpu9250_set_interface()

uint8_t mpu9250_set_interface	(	mpu9250_handle_t *	handle,
		mpu9250_interface_t	interface )

set the chip interface

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	interface	chip interface

Returns

status code

• 0 success
• 2 handle is NULL

Note

none

Definition at line 3921 of file driver_mpu9250.c.

mpu9250_set_interrupt()

uint8_t mpu9250_set_interrupt	(	mpu9250_handle_t *	handle,
		mpu9250_interrupt_t	type,
		mpu9250_bool_t	enable )

enable or disable the interrupt

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	type	set interrupt type
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set interrupt failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8872 of file driver_mpu9250.c.

mpu9250_set_interrupt_latch()

uint8_t mpu9250_set_interrupt_latch	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the interrupt latch

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set interrupt latch failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8461 of file driver_mpu9250.c.

mpu9250_set_interrupt_level()

uint8_t mpu9250_set_interrupt_level	(	mpu9250_handle_t *	handle,
		mpu9250_pin_level_t	level )

set the interrupt level

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	level	interrupt level

Returns

status code

• 0 success
• 1 set interrupt level failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8297 of file driver_mpu9250.c.

mpu9250_set_interrupt_pin_type()

uint8_t mpu9250_set_interrupt_pin_type	(	mpu9250_handle_t *	handle,
		mpu9250_pin_type_t	type )

set the interrupt pin type

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	type	interrupt pin type

Returns

status code

• 0 success
• 1 set interrupt pin type failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8379 of file driver_mpu9250.c.

mpu9250_set_interrupt_read_clear()

uint8_t mpu9250_set_interrupt_read_clear	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the interrupt reading clear

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set interrupt read clear failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8543 of file driver_mpu9250.c.

mpu9250_set_low_pass_filter()

uint8_t mpu9250_set_low_pass_filter	(	mpu9250_handle_t *	handle,
		mpu9250_low_pass_filter_t	filter )

set the low pass filter

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	filter	low pass filter

Returns

status code

• 0 success
• 1 set low pass filter failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7166 of file driver_mpu9250.c.

mpu9250_set_low_power_accel_output_rate()

uint8_t mpu9250_set_low_power_accel_output_rate	(	mpu9250_handle_t *	handle,
		mpu9250_low_power_accel_output_rate_t	rate )

set the low power accel output rate

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	rate	low power accel output rate

Returns

status code

• 0 success
• 1 set low power accel output rate failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7967 of file driver_mpu9250.c.

mpu9250_set_motion_threshold()

uint8_t mpu9250_set_motion_threshold	(	mpu9250_handle_t *	handle,
		uint8_t	threshold )

set the motion_threshold

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	threshold	set threshold

Returns

status code

• 0 success
• 1 set motion threshold failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 9968 of file driver_mpu9250.c.

mpu9250_set_ptat()

uint8_t mpu9250_set_ptat	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the temperature sensor

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set temperature sensor failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6448 of file driver_mpu9250.c.

mpu9250_set_sample_rate_divider()

uint8_t mpu9250_set_sample_rate_divider	(	mpu9250_handle_t *	handle,
		uint8_t	d )

set the sample rate divider

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	d	sample rate divider

Returns

status code

• 0 success
• 1 set sample rate divider failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 7014 of file driver_mpu9250.c.

mpu9250_set_signal_path_reset()

uint8_t mpu9250_set_signal_path_reset	(	mpu9250_handle_t *	handle,
		mpu9250_signal_path_reset_t	path )

set the signal path reset

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	path	signal path

Returns

status code

• 0 success
• 1 set signal path reset failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6969 of file driver_mpu9250.c.

mpu9250_set_sleep()

uint8_t mpu9250_set_sleep	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable the sleep mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set sleep failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6612 of file driver_mpu9250.c.

mpu9250_set_standby_mode()

uint8_t mpu9250_set_standby_mode	(	mpu9250_handle_t *	handle,
		mpu9250_source_t	source,
		mpu9250_bool_t	enable )

set source into standby mode

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	source	input source
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set standby mode failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 6777 of file driver_mpu9250.c.

mpu9250_set_wake_on_motion()

uint8_t mpu9250_set_wake_on_motion	(	mpu9250_handle_t *	handle,
		mpu9250_bool_t	enable )

enable or disable wake on motion

Parameters

[in]	*handle	pointer to an mpu9250 handle structure
[in]	enable	bool value

Returns

status code

• 0 success
• 1 set wake on motion failed
• 2 handle is NULL
• 3 handle is not initialized

Note

none

Definition at line 8049 of file driver_mpu9250.c.