openi2c/dist/modules/MPU9250/MPU9250.d.ts

This library is a set of cross platform drivers for common I2C devices.

import { BaseDevice } from '../BaseDevice';
interface MPU9250Config {
    bus: number;
    address: number;
    UpMagneto: boolean;
    DEBUG: boolean;
    scaleValues: boolean;
    ak_address: number;
    GYRO_FS: number;
    ACCEL_FS: number;
    gyroBiasOffset: Offset;
    accelCalibration: AccelCalibration;
    DLPF_CFG?: number;
    A_DLPF_CFG?: number;
    SAMPLE_RATE?: number;
}
interface Offset {
    x: number;
    y: number;
    z: number;
}
interface AccelCalibration {
    offset: Offset;
    scale: Scale;
}
interface Scale {
    x: number[];
    y: number[];
    z: number[];
}
export declare const MPU9250: {
    ID_MPU_9250: number;
    ID_MPU_9255: number;
    I2C_ADDRESS_AD0_LOW: number;
    I2C_ADDRESS_AD0_HIGH: number;
    WHO_AM_I: number;
    SMPLRT_DIV: number;
    RA_CONFIG: number;
    RA_GYRO_CONFIG: number;
    RA_ACCEL_CONFIG_1: number;
    RA_ACCEL_CONFIG_2: number;
    RA_INT_PIN_CFG: number;
    INTCFG_ACTL_BIT: number;
    INTCFG_OPEN_BIT: number;
    INTCFG_LATCH_INT_EN_BIT: number;
    INTCFG_INT_ANYRD_2CLEAR_BIT: number;
    INTCFG_ACTL_FSYNC_BIT: number;
    INTCFG_FSYNC_INT_MODE_EN_BIT: number;
    INTCFG_BYPASS_EN_BIT: number;
    INTCFG_NONE_BIT: number;
    ACCEL_XOUT_H: number;
    ACCEL_XOUT_L: number;
    ACCEL_YOUT_H: number;
    ACCEL_YOUT_L: number;
    ACCEL_ZOUT_H: number;
    ACCEL_ZOUT_L: number;
    TEMP_OUT_H: number;
    TEMP_OUT_L: number;
    GYRO_XOUT_H: number;
    GYRO_XOUT_L: number;
    GYRO_YOUT_H: number;
    GYRO_YOUT_L: number;
    GYRO_ZOUT_H: number;
    GYRO_ZOUT_L: number;
    RA_USER_CTRL: number;
    RA_PWR_MGMT_1: number;
    RA_PWR_MGMT_2: number;
    PWR1_DEVICE_RESET_BIT: number;
    PWR1_SLEEP_BIT: number;
    PWR1_CYCLE_BIT: number;
    PWR1_TEMP_DIS_BIT: number;
    PWR1_CLKSEL_BIT: number;
    PWR1_CLKSEL_LENGTH: number;
    GCONFIG_FS_SEL_BIT: number;
    GCONFIG_FS_SEL_LENGTH: number;
    GYRO_FS_250: number;
    GYRO_FS_500: number;
    GYRO_FS_1000: number;
    GYRO_FS_2000: number;
    GYRO_SCALE_FACTOR: number[];
    ACONFIG_FS_SEL_BIT: number;
    ACONFIG_FS_SEL_LENGTH: number;
    ACCEL_FS_2: number;
    ACCEL_FS_4: number;
    ACCEL_FS_8: number;
    ACCEL_FS_16: number;
    ACCEL_SCALE_FACTOR: number[];
    CLOCK_INTERNAL: number;
    CLOCK_PLL_XGYRO: number;
    CLOCK_PLL_YGYRO: number;
    CLOCK_PLL_ZGYRO: number;
    CLOCK_KEEP_RESET: number;
    CLOCK_PLL_EXT32K: number;
    CLOCK_PLL_EXT19M: number;
    I2C_SLV0_DO: number;
    I2C_SLV1_DO: number;
    I2C_SLV2_DO: number;
    USERCTRL_DMP_EN_BIT: number;
    USERCTRL_FIFO_EN_BIT: number;
    USERCTRL_I2C_MST_EN_BIT: number;
    USERCTRL_I2C_IF_DIS_BIT: number;
    USERCTRL_DMP_RESET_BIT: number;
    USERCTRL_FIFO_RESET_BIT: number;
    USERCTRL_I2C_MST_RESET_BIT: number;
    USERCTRL_SIG_COND_RESET_BIT: number;
    DEFAULT_GYRO_OFFSET: {
        x: number;
        y: number;
        z: number;
    };
    DEFAULT_ACCEL_CALIBRATION: {
        offset: {
            x: number;
            y: number;
            z: number;
        };
        scale: {
            x: number[];
            y: number[];
            z: number[];
        };
    };
    /** For Gyro */
    DLPF_CFG_250HZ: number;
    DLPF_CFG_184HZ: number;
    DLPF_CFG_92HZ: number;
    DLPF_CFG_41HZ: number;
    DLPF_CFG_20HZ: number;
    DLPF_CFG_10HZ: number;
    DLPF_CFG_5HZ: number;
    DLPF_CFG_3600HZ: number;
    /** Sample rate min/max value */
    SAMPLERATE_MIN: number;
    SAMPLERATE_MAX: number;
    /** For accel. */
    A_DLPF_CFG_460HZ: number;
    A_DLPF_CFG_184HZ: number;
    A_DLPF_CFG_92HZ: number;
    A_DLPF_CFG_41HZ: number;
    A_DLPF_CFG_20HZ: number;
    A_DLPF_CFG_10HZ: number;
    A_DLPF_CFG_5HZ: number;
    A_DLPF_CFG_460HZ_2: number;
    A_DLPF_CFG_MASK: number;
};
export declare class mpu9250 extends BaseDevice {
    private _config;
    private gyroScalarInv;
    private accelScalarInv;
    private ak8963?;
    constructor(config?: Partial<MPU9250Config>);
    initialize(): Promise<boolean>;
    getMotion9(): Promise<number[]>;
    getMotion6(): Promise<number[]>;
    scaleAccel(val: number, offset: number, scalerArr: number[]): number;
    testDevice(): Promise<boolean>;
    printGyroSettings(): Promise<void>;
    getFullScaleGyroRange(): Promise<number>;
    printAccelSettings(): Promise<void>;
    getFullScaleAccelRange(): Promise<number>;
    printSettings(): Promise<void>;
    getGyroPowerSettings(): Promise<number[]>;
    getPitch(value: number[]): number;
    getRoll(value: number[]): number;
    getYaw(value: number[]): number;
    getGyro(): Promise<number[]>;
    getAccel(): Promise<number[]>;
    getAccelPowerSettings(): Promise<number[]>;
    getClockSource(): Promise<number>;
    getI2CMasterMode(): Promise<number>;
    getSleepEnabled(): Promise<number>;
    getIDDevice(): Promise<number>;
    setSampleRate(sample_rate: number): Promise<void>;
    enableMagnetometer(): Promise<void>;
    getByPASSEnabled(): Promise<number>;
    setByPASSEnabled(bool: boolean): Promise<void>;
    setI2CMasterModeEnabled(bool: boolean): Promise<void>;
    setSleepEnabled(bool: boolean): Promise<void>;
    setFullScaleAccelRange(adrs: number): Promise<void>;
    setFullScaleGyroRange(adrs: number): Promise<void>;
    setClockSource(adrs: number): Promise<void>;
    setDLPFConfig(dlpf_cfg: number): Promise<void>;
    setAccelDLPFConfig(a_dlpf_cfg: number): Promise<void>;
}
export default mpu9250;