PQ_Hybrid_Electrical_Equipment_Team / mpu9250_i2c

mpu9250のライブラリ、I2Cを利用。

Dependents:   Hybrid_AttitudeEstimation Hybrid_main_FirstEdtion rocket_logger_sinkan2018_v1 HYBRYD2018_IZU_ROCKET ... more

Fork of mpu9250_i2c by Gaku Matsumoto

mpu9250_i2c.cpp@16:bea48f4ac712, 2017-12-06 (annotated)

Committer:
Gaku0606
Date:
Wed Dec 06 13:11:39 2017 +0000
Revision:
16:bea48f4ac712
Parent:
15:d8b263a8138e 
setOffset?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gaku0606 0:d36bfb8300a2 1 #include "mbed.h"
Gaku0606 0:d36bfb8300a2 2 #include "mpu9250_i2c.h"
Gaku0606 0:d36bfb8300a2 3
Gaku0606 15:d8b263a8138e 4 /*
Gaku0606 15:d8b263a8138e 5 char mpu9250::_addr = MPU9250_SLAVE_ADDR_HIGH;
Gaku0606 0:d36bfb8300a2 6 double mpu9250::acc_coef = ACC_LSB;
Gaku0606 0:d36bfb8300a2 7 double mpu9250::gyro_coef = GYRO_LSB;
Gaku0606 15:d8b263a8138e 8 double mpu9250::mag_coef = MPU9250_MAG_LSB;
Gaku0606 0:d36bfb8300a2 9 double mpu9250::acc_offset[3] = {0,0,0};
Gaku0606 0:d36bfb8300a2 10 double mpu9250::gyro_offset[3] = {0,0,0};
Gaku0606 15:d8b263a8138e 11 double mpu9250::mag_offset[3] = {0,0,0};*/
Gaku0606 0:d36bfb8300a2 12
Gaku0606 0:d36bfb8300a2 13 mpu9250::mpu9250(I2C &_i2c, AD0 celect){
Gaku0606 0:d36bfb8300a2 14
Gaku0606 0:d36bfb8300a2 15 _nine = &_i2c;
Gaku0606 15:d8b263a8138e 16 if(celect == AD0_HIGH) _addr = MPU9250_SLAVE_ADDR_HIGH;
Gaku0606 15:d8b263a8138e 17 else _addr = MPU9250_SLAVE_ADDR_LOW;
Gaku0606 0:d36bfb8300a2 18
Gaku0606 0:d36bfb8300a2 19 _nine->frequency(400000);//400kHz
Gaku0606 0:d36bfb8300a2 20 init();
Gaku0606 0:d36bfb8300a2 21 }
Gaku0606 0:d36bfb8300a2 22 void mpu9250::frequency(int Hz){
Gaku0606 0:d36bfb8300a2 23 _nine->frequency(Hz);
Gaku0606 0:d36bfb8300a2 24 }
Gaku0606 15:d8b263a8138e 25 bool mpu9250::sensorTest(){
Gaku0606 1:6a4c2f84180b 26 if(readReg(_addr, WHO_AM_I_MPU9250) == 0x71){
Gaku0606 0:d36bfb8300a2 27 return true;
Gaku0606 0:d36bfb8300a2 28 }
Gaku0606 0:d36bfb8300a2 29 else return false;
Gaku0606 0:d36bfb8300a2 30 }
Gaku0606 0:d36bfb8300a2 31
Gaku0606 15:d8b263a8138e 32 bool mpu9250::mag_sensorTest(){
Gaku0606 15:d8b263a8138e 33 if(readReg(MPU9250_MAG_ADDR, MPU9250_WIA) == 0x48){
Gaku0606 0:d36bfb8300a2 34 return true;
Gaku0606 0:d36bfb8300a2 35 }
Gaku0606 0:d36bfb8300a2 36 else return false;
Gaku0606 0:d36bfb8300a2 37 }
Gaku0606 0:d36bfb8300a2 38
Gaku0606 15:d8b263a8138e 39 void mpu9250::setOffset(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz){
Gaku0606 0:d36bfb8300a2 40 gyro_offset[0] = gx;
Gaku0606 0:d36bfb8300a2 41 gyro_offset[1] = gy;
Gaku0606 0:d36bfb8300a2 42 gyro_offset[2] = gz;
Gaku0606 0:d36bfb8300a2 43 acc_offset[0] = ax;
Gaku0606 0:d36bfb8300a2 44 acc_offset[1] = ay;
Gaku0606 0:d36bfb8300a2 45 acc_offset[2] = az;
Gaku0606 0:d36bfb8300a2 46 mag_offset[0] = mx;
Gaku0606 0:d36bfb8300a2 47 mag_offset[1] = my;
Gaku0606 0:d36bfb8300a2 48 mag_offset[2] = mz;
Gaku0606 0:d36bfb8300a2 49 }
Gaku0606 0:d36bfb8300a2 50
Gaku0606 0:d36bfb8300a2 51 void mpu9250::setGyro(GYRO_RANGE g_range){
Gaku0606 0:d36bfb8300a2 52 char fchoice = readReg(_addr, GYRO_CONFIG) & 0x03;
Gaku0606 0:d36bfb8300a2 53 char send;
Gaku0606 0:d36bfb8300a2 54 if(g_range == _250DPS){
Gaku0606 0:d36bfb8300a2 55 send = 0x00 | fchoice;
Gaku0606 0:d36bfb8300a2 56 gyro_coef = GYRO_LSB;
Gaku0606 0:d36bfb8300a2 57 }
Gaku0606 0:d36bfb8300a2 58 else if(g_range == _500DPS){
Gaku0606 0:d36bfb8300a2 59 send = 0x08 | fchoice;
Gaku0606 0:d36bfb8300a2 60 gyro_coef = GYRO_LSB * 2.0;
Gaku0606 0:d36bfb8300a2 61 }
Gaku0606 0:d36bfb8300a2 62 else if(g_range == _1000DPS){
Gaku0606 0:d36bfb8300a2 63 send = 0x10 | fchoice;
Gaku0606 0:d36bfb8300a2 64 gyro_coef = GYRO_LSB * 4.0;
Gaku0606 0:d36bfb8300a2 65 }
Gaku0606 0:d36bfb8300a2 66 else if(g_range == _2000DPS){
Gaku0606 0:d36bfb8300a2 67 send = 0x18 | fchoice;
Gaku0606 0:d36bfb8300a2 68 gyro_coef = GYRO_LSB * 8.0;
Gaku0606 0:d36bfb8300a2 69 }
Gaku0606 0:d36bfb8300a2 70 writeReg(_addr, GYRO_CONFIG, send);
Gaku0606 0:d36bfb8300a2 71 }
Gaku0606 0:d36bfb8300a2 72 void mpu9250::setAcc(ACC_RANGE a_range){
Gaku0606 0:d36bfb8300a2 73 char send;
Gaku0606 0:d36bfb8300a2 74 if(a_range == _2G){
Gaku0606 0:d36bfb8300a2 75 send = 0x00;
Gaku0606 0:d36bfb8300a2 76 acc_coef = ACC_LSB;
Gaku0606 0:d36bfb8300a2 77 }
Gaku0606 0:d36bfb8300a2 78 else if(a_range == _4G){
Gaku0606 0:d36bfb8300a2 79 send = 0x08;
Gaku0606 0:d36bfb8300a2 80 acc_coef = ACC_LSB * 2.0;
Gaku0606 0:d36bfb8300a2 81 }
Gaku0606 0:d36bfb8300a2 82 else if(a_range == _8G){
Gaku0606 0:d36bfb8300a2 83 send = 0x10;
Gaku0606 0:d36bfb8300a2 84 acc_coef = ACC_LSB * 4.0;
Gaku0606 0:d36bfb8300a2 85 }
Gaku0606 0:d36bfb8300a2 86 else if(a_range == _16G){
Gaku0606 0:d36bfb8300a2 87 send = 0x18;
Gaku0606 0:d36bfb8300a2 88 acc_coef = ACC_LSB * 8.0;
Gaku0606 0:d36bfb8300a2 89 }
Gaku0606 0:d36bfb8300a2 90 writeReg(_addr, ACCEL_CONFIG, send);
Gaku0606 0:d36bfb8300a2 91 }
Gaku0606 0:d36bfb8300a2 92
Gaku0606 0:d36bfb8300a2 93 void mpu9250::init(){
Gaku0606 0:d36bfb8300a2 94
Gaku0606 0:d36bfb8300a2 95 acc_coef = ACC_LSB;
Gaku0606 0:d36bfb8300a2 96 gyro_coef = GYRO_LSB;
Gaku0606 15:d8b263a8138e 97 mag_coef = MPU9250_MAG_LSB;
Gaku0606 0:d36bfb8300a2 98
Gaku0606 15:d8b263a8138e 99 writeReg(MPU9250_MAG_ADDR, 0x6B, 0x00);
Gaku0606 0:d36bfb8300a2 100 wait_us(70);
Gaku0606 0:d36bfb8300a2 101 writeReg(_addr, 0x37, 0x02);
Gaku0606 0:d36bfb8300a2 102 wait_us(70);
Gaku0606 15:d8b263a8138e 103 writeReg(MPU9250_MAG_ADDR, MPU9250_CNTL1, 0x16);
Gaku0606 0:d36bfb8300a2 104 wait_us(70);
Gaku0606 0:d36bfb8300a2 105 setAcc(_4G);
Gaku0606 0:d36bfb8300a2 106 wait_us(70);
Gaku0606 0:d36bfb8300a2 107 setGyro(_500DPS);
Gaku0606 0:d36bfb8300a2 108 }
Gaku0606 0:d36bfb8300a2 109
Gaku0606 1:6a4c2f84180b 110 template<typename T>void mpu9250::getAcc(T *acc){
Gaku0606 0:d36bfb8300a2 111 char data[6];
Gaku0606 0:d36bfb8300a2 112 short sign;
Gaku0606 0:d36bfb8300a2 113 readReg(_addr, ACCEL_XOUT_H, data, 6);
Gaku0606 0:d36bfb8300a2 114 sign = ((short)data[0] << 8) | (short)data[1];
Gaku0606 15:d8b263a8138e 115 acc[0] = (float)sign * acc_coef - acc_offset[0];
Gaku0606 0:d36bfb8300a2 116 sign = ((short)data[2] << 8) | (short)data[3];
Gaku0606 15:d8b263a8138e 117 acc[1] = (float)sign * acc_coef - acc_offset[1];
Gaku0606 0:d36bfb8300a2 118 sign = ((short)data[4] << 8) | (short)data[5];
Gaku0606 15:d8b263a8138e 119 acc[2] = (float)sign * acc_coef - acc_offset[2];
Gaku0606 0:d36bfb8300a2 120 }
Gaku0606 15:d8b263a8138e 121
Gaku0606 1:6a4c2f84180b 122 template<typename T>void mpu9250::getAcc(T *ax, T *ay, T *az){
Gaku0606 15:d8b263a8138e 123 float acc[3];
Gaku0606 0:d36bfb8300a2 124 getAcc(acc);
Gaku0606 0:d36bfb8300a2 125 *ax = acc[0];
Gaku0606 0:d36bfb8300a2 126 *ay = acc[1];
Gaku0606 0:d36bfb8300a2 127 *az = acc[2];
Gaku0606 0:d36bfb8300a2 128 }
Gaku0606 15:d8b263a8138e 129
Gaku0606 1:6a4c2f84180b 130 template<typename T>void mpu9250::getGyro(T *gyro){
Gaku0606 0:d36bfb8300a2 131 char data[6];
Gaku0606 0:d36bfb8300a2 132 short sign;
Gaku0606 0:d36bfb8300a2 133 readReg(_addr, GYRO_XOUT_H, data, 6);
Gaku0606 0:d36bfb8300a2 134 sign = ((short)data[0] << 8) | (short)data[1];
Gaku0606 15:d8b263a8138e 135 gyro[0] = (float)sign * gyro_coef - gyro_offset[0];
Gaku0606 0:d36bfb8300a2 136 sign = ((short)data[2] << 8) | (short)data[3];
Gaku0606 15:d8b263a8138e 137 gyro[1] = (float)sign * gyro_coef - gyro_offset[1];
Gaku0606 0:d36bfb8300a2 138 sign = ((short)data[4] << 8) | (short)data[5];
Gaku0606 15:d8b263a8138e 139 gyro[2] = (float)sign * gyro_coef - gyro_offset[2];
Gaku0606 0:d36bfb8300a2 140 }
Gaku0606 15:d8b263a8138e 141
Gaku0606 1:6a4c2f84180b 142 template<typename T>void mpu9250::getGyro(T *gx, T *gy, T *gz){
Gaku0606 15:d8b263a8138e 143 float gyro[3];
Gaku0606 0:d36bfb8300a2 144 getGyro(gyro);
Gaku0606 0:d36bfb8300a2 145 *gx = gyro[0];
Gaku0606 0:d36bfb8300a2 146 *gy = gyro[1];
Gaku0606 0:d36bfb8300a2 147 *gz = gyro[2];
Gaku0606 0:d36bfb8300a2 148 }
Gaku0606 15:d8b263a8138e 149
Gaku0606 1:6a4c2f84180b 150 template<typename T>void mpu9250::getMag(T *mag){
Gaku0606 0:d36bfb8300a2 151 char data[8];
Gaku0606 0:d36bfb8300a2 152 short sign;
Gaku0606 15:d8b263a8138e 153 readReg(MPU9250_MAG_ADDR, MPU9250_ST1, data, 8);
Gaku0606 0:d36bfb8300a2 154 sign = ((short)data[2] << 8) | (short)data[1];
Gaku0606 15:d8b263a8138e 155 mag[1] = (float)sign * mag_coef - mag_offset[1];
Gaku0606 0:d36bfb8300a2 156 sign = ((short)data[4] << 8) | (short)data[3];
Gaku0606 15:d8b263a8138e 157 mag[0] = (float)sign * mag_coef - mag_offset[0];
Gaku0606 0:d36bfb8300a2 158 sign = ((short)data[6] << 8) | (short)data[5];
Gaku0606 15:d8b263a8138e 159 mag[2] = (float)sign * -mag_coef - mag_offset[2];
Gaku0606 0:d36bfb8300a2 160 }
Gaku0606 15:d8b263a8138e 161
Gaku0606 1:6a4c2f84180b 162 template<typename T>void mpu9250::getMag(T *mx, T *my, T *mz){
Gaku0606 15:d8b263a8138e 163 float mag[3];
Gaku0606 0:d36bfb8300a2 164 getMag(mag);
Gaku0606 0:d36bfb8300a2 165 *mx = mag[0];
Gaku0606 0:d36bfb8300a2 166 *my = mag[1];
Gaku0606 0:d36bfb8300a2 167 *mz = mag[2];
Gaku0606 0:d36bfb8300a2 168 }
Gaku0606 15:d8b263a8138e 169
Gaku0606 1:6a4c2f84180b 170 template<typename T>void mpu9250::getGyroAcc(T *imu){
Gaku0606 0:d36bfb8300a2 171 char data[14];
Gaku0606 0:d36bfb8300a2 172 short sign;
Gaku0606 0:d36bfb8300a2 173 readReg(_addr, ACCEL_XOUT_H, data, 14);
Gaku0606 0:d36bfb8300a2 174 sign = ((short)data[0] << 8) | (short)data[1];
Gaku0606 15:d8b263a8138e 175 imu[3] = (float)sign * acc_coef - acc_offset[0];
Gaku0606 0:d36bfb8300a2 176 sign = ((short)data[2] << 8) | (short)data[3];
Gaku0606 15:d8b263a8138e 177 imu[4] = (float)sign * acc_coef - acc_offset[1];
Gaku0606 0:d36bfb8300a2 178 sign = ((short)data[4] << 8) | (short)data[5];
Gaku0606 15:d8b263a8138e 179 imu[5] = (float)sign * acc_coef - acc_offset[2];
Gaku0606 15:d8b263a8138e 180
Gaku0606 15:d8b263a8138e 181 sign = ((short)data[8] << 8) | (short)data[9];
Gaku0606 15:d8b263a8138e 182 imu[0] = (float)sign * gyro_coef - gyro_offset[0];
Gaku0606 15:d8b263a8138e 183 sign = ((short)data[10] << 8) | (short)data[11];
Gaku0606 15:d8b263a8138e 184 imu[1] = (float)sign * gyro_coef - gyro_offset[1];
Gaku0606 15:d8b263a8138e 185 sign = ((short)data[12] << 8) | (short)data[13];
Gaku0606 15:d8b263a8138e 186 imu[2] = (float)sign * gyro_coef - gyro_offset[2];
Gaku0606 15:d8b263a8138e 187 }
Gaku0606 15:d8b263a8138e 188
Gaku0606 15:d8b263a8138e 189 template<typename T>void mpu9250::getAll(T *imu, T *mag){
Gaku0606 15:d8b263a8138e 190
Gaku0606 15:d8b263a8138e 191 char data[14];
Gaku0606 15:d8b263a8138e 192 short sign;
Gaku0606 15:d8b263a8138e 193 readReg(_addr, ACCEL_XOUT_H, data, 14);
Gaku0606 15:d8b263a8138e 194 sign = ((short)data[0] << 8) | (short)data[1];
Gaku0606 15:d8b263a8138e 195 imu[3] = (float)sign * acc_coef - acc_offset[0];
Gaku0606 15:d8b263a8138e 196 sign = ((short)data[2] << 8) | (short)data[3];
Gaku0606 15:d8b263a8138e 197 imu[4] = (float)sign * acc_coef - acc_offset[1];
Gaku0606 15:d8b263a8138e 198 sign = ((short)data[4] << 8) | (short)data[5];
Gaku0606 15:d8b263a8138e 199 imu[5] = (float)sign * acc_coef - acc_offset[2];
Gaku0606 0:d36bfb8300a2 200
Gaku0606 0:d36bfb8300a2 201 sign = ((short)data[8] << 8) | (short)data[9];
Gaku0606 15:d8b263a8138e 202 imu[0] = (float)sign * gyro_coef - gyro_offset[0];
Gaku0606 0:d36bfb8300a2 203 sign = ((short)data[10] << 8) | (short)data[11];
Gaku0606 15:d8b263a8138e 204 imu[1] = (float)sign * gyro_coef - gyro_offset[1];
Gaku0606 0:d36bfb8300a2 205 sign = ((short)data[12] << 8) | (short)data[13];
Gaku0606 15:d8b263a8138e 206 imu[2] = (float)sign * gyro_coef - gyro_offset[2];
Gaku0606 15:d8b263a8138e 207
Gaku0606 15:d8b263a8138e 208 readReg(MPU9250_MAG_ADDR, MPU9250_ST1, data, 8);
Gaku0606 15:d8b263a8138e 209 sign = ((short)data[2] << 8) | (short)data[1];
Gaku0606 15:d8b263a8138e 210 mag[1] = (float)sign * mag_coef - mag_offset[1];
Gaku0606 15:d8b263a8138e 211 sign = ((short)data[4] << 8) | (short)data[3];
Gaku0606 15:d8b263a8138e 212 mag[0] = (float)sign * mag_coef - mag_offset[0];
Gaku0606 15:d8b263a8138e 213 sign = ((short)data[6] << 8) | (short)data[5];
Gaku0606 15:d8b263a8138e 214 mag[2] = (float)sign * -mag_coef - mag_offset[2];
Gaku0606 15:d8b263a8138e 215
Gaku0606 0:d36bfb8300a2 216 }
Gaku0606 15:d8b263a8138e 217
Gaku0606 15:d8b263a8138e 218 template<typename T>void mpu9250::getAll(T *all){
Gaku0606 15:d8b263a8138e 219
Gaku0606 15:d8b263a8138e 220 char data[14];
Gaku0606 15:d8b263a8138e 221 short sign;
Gaku0606 15:d8b263a8138e 222 readReg(_addr, ACCEL_XOUT_H, data, 14);
Gaku0606 15:d8b263a8138e 223 sign = ((short)data[0] << 8) | (short)data[1];
Gaku0606 15:d8b263a8138e 224 all[3] = (float)sign * acc_coef - acc_offset[0];
Gaku0606 15:d8b263a8138e 225 sign = ((short)data[2] << 8) | (short)data[3];
Gaku0606 15:d8b263a8138e 226 all[4] = (float)sign * acc_coef - acc_offset[1];
Gaku0606 15:d8b263a8138e 227 sign = ((short)data[4] << 8) | (short)data[5];
Gaku0606 15:d8b263a8138e 228 all[5] = (float)sign * acc_coef - acc_offset[2];
Gaku0606 15:d8b263a8138e 229
Gaku0606 15:d8b263a8138e 230 sign = ((short)data[8] << 8) | (short)data[9];
Gaku0606 15:d8b263a8138e 231 all[0] = (float)sign * gyro_coef - gyro_offset[0];
Gaku0606 15:d8b263a8138e 232 sign = ((short)data[10] << 8) | (short)data[11];
Gaku0606 15:d8b263a8138e 233 all[1] = (float)sign * gyro_coef - gyro_offset[1];
Gaku0606 15:d8b263a8138e 234 sign = ((short)data[12] << 8) | (short)data[13];
Gaku0606 15:d8b263a8138e 235 all[2] = (float)sign * gyro_coef - gyro_offset[2];
Gaku0606 15:d8b263a8138e 236
Gaku0606 15:d8b263a8138e 237 readReg(MPU9250_MAG_ADDR, MPU9250_ST1, data, 8);
Gaku0606 15:d8b263a8138e 238 sign = ((short)data[2] << 8) | (short)data[1];
Gaku0606 15:d8b263a8138e 239 all[7] = (float)sign * mag_coef - mag_offset[1];
Gaku0606 15:d8b263a8138e 240 sign = ((short)data[4] << 8) | (short)data[3];
Gaku0606 15:d8b263a8138e 241 all[6] = (float)sign * mag_coef - mag_offset[0];
Gaku0606 15:d8b263a8138e 242 sign = ((short)data[6] << 8) | (short)data[5];
Gaku0606 15:d8b263a8138e 243 all[8] = (float)sign * -mag_coef - mag_offset[2];
Gaku0606 15:d8b263a8138e 244 return;
Gaku0606 15:d8b263a8138e 245 }
Gaku0606 15:d8b263a8138e 246
Gaku0606 0:d36bfb8300a2 247
Gaku0606 0:d36bfb8300a2 248 void mpu9250::setAccLPF(A_BAND_WIDTH band){
Gaku0606 0:d36bfb8300a2 249 writeReg(_addr, ACCEL_CONFIG2, band);
Gaku0606 0:d36bfb8300a2 250 wait_us(70);
Gaku0606 1:6a4c2f84180b 251 }
Gaku0606 1:6a4c2f84180b 252
Gaku0606 1:6a4c2f84180b 253 template void mpu9250::getAcc<double>(double *ax, double *ay, double *az);
Gaku0606 1:6a4c2f84180b 254 template void mpu9250::getAcc<float>(float *ax, float *ay, float *az);
Gaku0606 1:6a4c2f84180b 255 template void mpu9250::getAcc<double>(double *acc);
Gaku0606 1:6a4c2f84180b 256 template void mpu9250::getAcc<float>(float *acc);
Gaku0606 1:6a4c2f84180b 257
Gaku0606 1:6a4c2f84180b 258 template void mpu9250::getGyro<double>(double *gx, double *gy, double *gz);
Gaku0606 1:6a4c2f84180b 259 template void mpu9250::getGyro<float>(float *gx, float *gy, float *gz);
Gaku0606 1:6a4c2f84180b 260 template void mpu9250::getGyro<double>(double *gyro);
Gaku0606 1:6a4c2f84180b 261 template void mpu9250::getGyro<float>(float *gyro);
Gaku0606 1:6a4c2f84180b 262
Gaku0606 1:6a4c2f84180b 263 template void mpu9250::getMag<double>(double *mx, double *my, double *mz);
Gaku0606 1:6a4c2f84180b 264 template void mpu9250::getMag<float>(float *mx, float *my, float *mz);
Gaku0606 1:6a4c2f84180b 265 template void mpu9250::getMag<double>(double *mag);
Gaku0606 1:6a4c2f84180b 266 template void mpu9250::getMag<float>(float *mag);
Gaku0606 1:6a4c2f84180b 267
Gaku0606 1:6a4c2f84180b 268 template void mpu9250::getGyroAcc<double>(double *imu);//gx,gy,gz,ax,ay,az
Gaku0606 1:6a4c2f84180b 269 template void mpu9250::getGyroAcc<float>(float *imu);//gx,gy,gz,ax,ay,az
Gaku0606 15:d8b263a8138e 270
Gaku0606 15:d8b263a8138e 271 template void mpu9250::getAll<double>(double *all);
Gaku0606 15:d8b263a8138e 272 template void mpu9250::getAll<float>(float *all);
Gaku0606 15:d8b263a8138e 273
Gaku0606 15:d8b263a8138e 274 template void mpu9250::getAll<float>(float *imu, float *mag);
Gaku0606 15:d8b263a8138e 275 template void mpu9250::getAll<double>(double *imu, double *mag);