.. module:: MPU9250

**************
MPU9250 Module
**************

.. _datasheet: https://invensense.tdk.com/wp-content/uploads/2017/11/RM-MPU-9250A-00-v1.6.pdf
               https://invensense.tdk.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf

MPU-9250 features three 16-bit analog-to-digital converters (ADCs) for digitizing the gyroscope outputs, three
16-bit ADCs for digitizing the accelerometer outputs, and three 16-bit ADCs for digitizing the magnetometer
outputs. For precision tracking of both fast and slow motions, the parts feature a user-programmable
gyroscope full-scale range of ±250, ±500, ±1000, and ±2000°/sec (dps), a user-programmable accelerometer
full-scale range of ±2g, ±4g, ±8g, and ±16g, and a magnetometer full-scale range of ±4800µT.
Communication with all registers of the device is performed using I2C at 400kHz.
Additional features include an embedded temperature sensor.
    
===============
 MPU9250 class
===============

.. class:: MPU9250(drvname, addr, clk=400000)

    Creates an intance of the MPU9250 class.

    :param drvname: I2C Bus used '( I2C0, ... )'
    :param addr: Slave address, default 0x69
    :param clk: Clock speed, default 400kHz
    
    Temperature, accelerometer, gyroscope and magnetometer values can be easily obtained from the sensor: ::

        from invensense.mpu9250 import mpu9250

        ...

        mpu = mpu9250.MPU9250(I2C0)

        temp, acc, gyro, magneto = mpu.get_values()

    
.. method:: set_dlpf_mode(dlpf)

    **Parameters**:

    **dlpf**: is the DLPF mode to set. Values range accepted are 0-7 (see datasheet).

    Set the DLPF mode.

    
.. method:: get_clock_source()

    Return the clock source the sensor is set to.

    
.. method:: set_clock_source(clksel)

    **Parameters**:

    **clksel**: is the clock source to set. Values accepted are 0, 1, 2, 3, 4, 5 or 7.

    ======== =====================
     clksel    Clock source
    ======== =====================
     0         Internal 8MHz oscillator
     1         PLL with X axis gyroscope reference
     2         PLL with Y axis gyroscope reference
     3         PLL with Z axis gyroscope reference
     4         PLL with external 32.768kHz reference
     5         PLL with external 19.2MHz reference
     6         Reserved
     7         Stops the clock and keeps the timing generator
    ======== =====================

    Set the clock source. 

    
.. method:: get_temp()

    Return the temperature in degrees Celsius.

    
.. method:: set_accel_fullscale(full_scale)

    :param full_scale: is the full-scale range to set the accelerometer to. Possible values are 2, 4, 8 or 16.
    
    Set the full-scale range of the accelerometer.

    
.. method:: get_accel_fullscale()
    
    Return the full-scale value the accelerometer is set to.
    When something went wrong, it returns -1.
    
    
.. method:: get_accel_values(g = False)

    :param g: is the format of accelerometer values. 
              If g = False is m/s^2, otherwise is g. 
              Default value is False.
    
    Return the X, Y and Z accelerometer values in a dictionary.
    
    
.. method:: set_gyro_fullscale(full_scale)

    :param full_scale: is the full-scale range to set the gyroscope to. Values accepted: 250, 500, 1000 or 2000.
    
    Set the full-scale range of the gyroscope.
    
    
.. method:: get_gyro_fullscale()
    
    Return the full-scale value the gyroscope is set to.
    When something went wrong, it returns -1.
    
    
.. method:: get_gyro_values()
    
    Return the X, Y and Z gyroscope values in a dictionary.
    
    
.. method:: set_magneto_config(mfs = 0, mode = 0)

    **Parameters**:

    **mfs**: is the magneto scale (default value is 0).

    ======== =====================
     mfs       Magneto Scale
    ======== =====================
     0        14 bit resolution
     1        16 bit resolution
    ======== =====================
    
    **mode**: is the magneto mode (default value is 0).

    ======== =====================
     mode       Magneto Mode
    ======== =====================
     0        Continous data output 8Hz
     1        Continous data output 100Hz
    ======== =====================

    Set the magnetometer scale and mode.

    
.. method:: get_magneto_values()
    
    Return the X, Y and Z magnetometer values in a dictionary.
    
    
.. method:: get_values(g = False)
    
    :param g: is the format of accelerometer values. 
              If g = False is m/s^2, otherwise is g. 
              Default value is False.

    Return the values of temperature, gyroscope, accelerometer and magnetometer in a list [temp, accel, gyro, magneto].
    
    
.. method:: is_data_ready()

    Return 1 if data is ready, otherwise 0.