upm/src/mpu9150/mpu9250.cxx

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2015 Intel Corporation.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#include <iostream>
#include <unistd.h>
#include <stdlib.h>

#include "mpu9250.hpp"

using namespace upm;
using namespace std;

MPU9250::MPU9250 (int bus, int address, int magAddress, bool enableAk8975) :
  MPU9150(bus, address, magAddress, enableAk8975)
{
}

MPU9250::~MPU9250()
{
}

float MPU9250::getTemperature()
{
  // this equation is taken from the datasheet.  The 333.87 value was
  // taken from the adafruit code (it is referenced as
  // Temp_Sensitivity in the datasheet, but no value is provided there).
  return (m_temp / 333.87) + 21.0;
}