1 /*
2 * Author: Jon Trulson <jtrulson@ics.com>
3 * Copyright (c) 2015 Intel Corporation.
4 *
5 * Permission is hereby granted, free of charge, to any person obtaining
6 * a copy of this software and associated documentation files (the
7 * "Software"), to deal in the Software without restriction, including
8 * without limitation the rights to use, copy, modify, merge, publish,
9 * distribute, sublicense, and/or sell copies of the Software, and to
10 * permit persons to whom the Software is furnished to do so, subject to
11 * the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 */
24
25 #include <iostream>
26 #include <unistd.h>
27 #include <stdlib.h>
28
29 #include "mpu9250.h"
30
31 using namespace upm;
32 using namespace std;
33
MPU9250(int bus,int address,int magAddress)34 MPU9250::MPU9250 (int bus, int address, int magAddress) :
35 MPU9150(bus, address, magAddress)
36 {
37 }
38
~MPU9250()39 MPU9250::~MPU9250()
40 {
41 }
42
getTemperature()43 float MPU9250::getTemperature()
44 {
45 // this equation is taken from the datasheet. The 333.87 value was
46 // taken from the adafruit code (it is referenced as
47 // Temp_Sensitivity in the datasheet, but no value is provided there).
48 return (m_temp / 333.87) + 21.0;
49 }
50
51