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Unverified Commit d562be22 authored by pcdangio's avatar pcdangio Committed by GitHub
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Added GPIO number guidance to interrupt_gpio_pin parameter

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...@@ -67,66 +67,57 @@ A Raspberry Pi driver for MPU9250. Ensure that the pigpio daemon is running bef ...@@ -67,66 +67,57 @@ A Raspberry Pi driver for MPU9250. Ensure that the pigpio daemon is running bef
#### Parameters #### Parameters
* **`~/i2c_bus`** (int, default: 1) * **`~/i2c_bus`** (int, default: 1)
The I2C bus to communicate with the MPU9250 over.
The I2C bus to communicate with the MPU9250 over.
* **`~/i2c_address`** (int, default: 0x68) * **`~/i2c_address`** (int, default: 0x68)
The I2C address of the MPU9250.
The I2C address of the MPU9250.
* **`~/interrupt_gpio_pin`** (int, default: 0)
* **`~/interrupt_gpio_pin`** (int, default: 0) The GPIO input pin connected to the MPU9250's interrupt pin. **NOTE:** [You must use GPIO numbers, not pin numbers.](http://abyz.me.uk/rpi/pigpio/index.html#Type_3)
The GPIO input pin connected to the MPU9250's interrupt pin. * **`~/gyro_dlpf_frequency`** (int, default: 0)
An enum value representing the digital low pass filter (DLPF) cutoff frequency for the gyroscopes.
* **`~/gyro_dlpf_frequency`** (int, default: 0) NOTE: The publishing rate of Imu, MagneticField, and Temperature messages will be approximately 2.5x the gyro OR accel DLPF frequency (whichever is larger).
Enumerated Values:
An enum value representing the digital low pass filter (DLPF) cutoff frequency for the gyroscopes. 250Hz = 0
NOTE: The publishing rate of Imu, MagneticField, and Temperature messages will be approximately 2.5x the gyro OR accel DLPF frequency (whichever is larger). 184Hz = 1
Enumerated Values: 92Hz = 2
250Hz = 0 41Hz = 3
184Hz = 1 20Hz = 4
92Hz = 2 10Hz = 5
41Hz = 3 5Hz = 6
20Hz = 4
10Hz = 5 * **`~/accel_dlpf_frequency`** (int, default: 0)
5Hz = 6 An enum value representing the digital low pass filter (DLPF) cutoff frequency for the accelerometers.
NOTE: The publishing rate of Imu, MagneticField, and Temperature messages will be approximately 2.5x the gyro OR accel DLPF frequency (whichever is larger).
* **`~/accel_dlpf_frequency`** (int, default: 0) Enumerated Values:
460Hz = 0
An enum value representing the digital low pass filter (DLPF) cutoff frequency for the accelerometers. 184Hz = 1
NOTE: The publishing rate of Imu, MagneticField, and Temperature messages will be approximately 2.5x the gyro OR accel DLPF frequency (whichever is larger). 92Hz = 2
Enumerated Values: 41Hz = 3
460Hz = 0 20Hz = 4
184Hz = 1 10Hz = 5
92Hz = 2 5Hz = 6
41Hz = 3
20Hz = 4 * **`~/gyro_fsr`** (int, default: 0)
10Hz = 5 The full scale range (FSR) of the gyroscopes.
5Hz = 6 Enumerated Values:
+/- 250deg/sec = 0
+/- 500deg/sec = 1
* **`~/gyro_fsr`** (int, default: 0) +/- 1000deg/sec = 2
+/- 2000deg/sec = 3
The full scale range (FSR) of the gyroscopes.
Enumerated Values: * **`~/accel_fsr`** (int, default: 0)
+/- 250deg/sec = 0 The full scale range (FSR) of the accelerometers.
+/- 500deg/sec = 1 Enumerated Values:
+/- 1000deg/sec = 2 +/- 2g = 0
+/- 2000deg/sec = 3 +/- 4g = 1
+/- 8g = 2
* **`~/accel_fsr`** (int, default: 0) +/- 16g = 3
The full scale range (FSR) of the accelerometers. * **`~/max_data_rate`** (float, default: 8000)
Enumerated Values: The maximum allowable sensor data rate, in Hz. Data rate is normally calculated as half of the accel/gyro DLPF frequency (nyquist criterion). This parameter allows maximum cap on the data rate, regardless of the DLPF frequency.
+/- 2g = 0
+/- 4g = 1
+/- 8g = 2
+/- 16g = 3
* **`~/max_data_rate`** (float, default: 8000)
The maximum allowable sensor data rate, in Hz. Data rate is normally calculated as half of the accel/gyro DLPF frequency (nyquist criterion). This parameter allows maximum cap on the data rate, regardless of the DLPF frequency.
## Bugs & Feature Requests ## Bugs & Feature Requests
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