Diff: MPU9250.h

Revision:

3:d53674889db3

Parent:

2:4e59a37182df

--- a/MPU9250.h	Tue Aug 05 01:37:23 2014 +0000
+++ b/MPU9250.h	Mon Feb 19 12:43:16 2018 +0000
@@ -156,7 +156,7 @@
 // Using the MSENSR-9250 breakout board, ADO is set to 0 
 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
 //mbed uses the eight-bit device address, so shift seven-bit addresses left by one!
-#define ADO 0
+#define ADO 1
 #if ADO
 #define MPU9250_ADDRESS 0x69<<1  // Device address when ADO = 1
 #else
@@ -166,16 +166,16 @@
 // Set initial input parameters
 enum Ascale {
   AFS_2G = 0,
-  AFS_4G,
-  AFS_8G,
-  AFS_16G
+  AFS_4G = 1,
+  AFS_8G = 2,
+  AFS_16G = 3
 };
 
 enum Gscale {
   GFS_250DPS = 0,
-  GFS_500DPS,
-  GFS_1000DPS,
-  GFS_2000DPS
+  GFS_500DPS = 1,
+  GFS_1000DPS = 2,
+  GFS_2000DPS = 3
 };
 
 enum Mscale {
@@ -183,19 +183,17 @@
   MFS_16BITS      // 0.15 mG per LSB
 };
 
-uint8_t Ascale = AFS_2G;     // AFS_2G, AFS_4G, AFS_8G, AFS_16G
-uint8_t Gscale = GFS_250DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
+uint8_t Ascale = AFS_8G;     // AFS_2G, AFS_4G, AFS_8G, AFS_16G
+uint8_t Gscale = GFS_1000DPS; // GFS_250DPS, GFS_500DPS, GFS_1000DPS, GFS_2000DPS
 uint8_t Mscale = MFS_16BITS; // MFS_14BITS or MFS_16BITS, 14-bit or 16-bit magnetometer resolution
 uint8_t Mmode = 0x06;        // Either 8 Hz 0x02) or 100 Hz (0x06) magnetometer data ODR  
 float aRes, gRes, mRes;      // scale resolutions per LSB for the sensors
 
 //Set up I2C, (SDA,SCL)
-I2C i2c(I2C_SDA, I2C_SCL);
-
-DigitalOut myled(LED1);
+I2C i2c(P0_8, P0_9);
     
 // Pin definitions
-int intPin = 12;  // These can be changed, 2 and 3 are the Arduinos ext int pins
+int intPin = 16;  // These can be changed, 2 and 3 are the Arduinos ext int pins
 
 int16_t accelCount[3];  // Stores the 16-bit signed accelerometer sensor output
 int16_t gyroCount[3];   // Stores the 16-bit signed gyro sensor output
@@ -625,7 +623,7 @@
 // Configure the accelerometer for self-test
    writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
    writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
-   delay(25); // Delay a while to let the device stabilize
+   wait(0.1); // Delay a while to let the device stabilize
 
   for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer
   
@@ -648,7 +646,7 @@
  // Configure the gyro and accelerometer for normal operation
    writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00);
    writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);
-   delay(25); // Delay a while to let the device stabilize
+   wait(0.1); // Delay a while to let the device stabilize
    
    // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
    selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results