mpu9250-spin

This is a P8X32A/Propeller, P2X8C4M64P/Propeller 2 driver object for the InvenSense MPU9250.

IMPORTANT: This software is meant to be used with the spin-standard-library (P8X32A) or p2-spin-standard-library (P2X8C4M64P). Please install the applicable library first before attempting to use this code, otherwise you will be missing several files required to build the project.

Salient Features

• I2C connection at up to 400kHz
• Read accelerometer (raw, micro-g’s), gyroscope (raw, micro-dps), magnetometer data (raw, gauss (untested/unverified), nano-Teslas (untested/unverified))
• Set accel, gyro full-scale, mag ADC res
• Data-ready flags
• Interrupt support: pin active state, output type, latching, read state
• Set magnetometer ADC resolution
• Set bias offsets
• Set output data rates
• Set optional accel/gyro/temp data low-pass filter
• Magnetometer calibration
• Clock source: internal oscillator, automatic
• FIFO modes, status flags

Requirements

P1/SPIN1:

• spin-standard-library
• 1 extra core/cog for the PASM I2C engine
• sensor.accel.common.spinh (provided by spin-standard-library)
• sensor.gyroscope.common.spinh (provided by spin-standard-library)
• sensor.magnetometer.common.spinh (provided by spin-standard-library)

P2/SPIN2:

• p2-spin-standard-library
• sensor.accel.common.spin2h (provided by p2-spin-standard-library)
• sensor.gyroscope.common.spin2h (provided by p2-spin-standard-library)
• sensor.magnetometer.common.spin2h (provided by p2-spin-standard-library)

Compiler Compatibility

(other versions or toolchains not listed are not supported, and may or may not work)

Limitations

• Very early in development - may malfunction, or outright fail to build
• I2C sensor slaves not supported (not currently planned)
• DMP not supported (not currently planned)