Revision 2:f8bfb37b2e1f, committed 2013-05-12

Comitter:

akode

Date:

Sun May 12 10:54:50 2013 +0000

Parent:

1:1e0baaf91e96

Commit message:

Added magnetometer support, fixed some compiler warnings

Changed in this revision

diff -r 1e0baaf91e96 -r f8bfb37b2e1f I2Cdev.cpp
--- a/I2Cdev.cpp	Wed May 08 00:34:55 2013 +0000
+++ b/I2Cdev.cpp	Sun May 12 10:54:50 2013 +0000
@@ -7,12 +7,12 @@
 
 #define useDebugSerial
 
-I2Cdev::I2Cdev(): debugSerial(USBTX, USBRX), i2c(I2C_SDA,I2C_SCL)
+I2Cdev::I2Cdev(): i2c(I2C_SDA,I2C_SCL), debugSerial(USBTX, USBRX)
 {
 
 }
 
-I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): debugSerial(USBTX, USBRX), i2c(i2cSda,i2cScl)
+I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): i2c(i2cSda,i2cScl), debugSerial(USBTX, USBRX)
 {
 
 }

diff -r 1e0baaf91e96 -r f8bfb37b2e1f MPU6050.cpp
--- a/MPU6050.cpp	Wed May 08 00:34:55 2013 +0000
+++ b/MPU6050.cpp	Sun May 12 10:54:50 2013 +0000
@@ -1882,7 +1882,16 @@
 void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz)
 {
     getMotion6(ax, ay, az, gx, gy, gz);
-    // TODO: magnetometer integration
+    
+    // magnetometer reading
+    i2Cdev.writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer
+    wait_ms(10); // necessary wait >=6ms
+    i2Cdev.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); // enable the magnetometer
+    wait_ms(10); // necessary wait >=6ms
+    i2Cdev.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer);
+    *mx = (((int16_t)buffer[0]) << 8) | buffer[1];
+    *my = (((int16_t)buffer[2]) << 8) | buffer[3];
+    *mz = (((int16_t)buffer[4]) << 8) | buffer[5];
 }
 /** Get raw 6-axis motion sensor readings (accel/gyro).
  * Retrieves all currently available motion sensor values.
@@ -3250,8 +3259,8 @@
     setMemoryBank(bank);
     setMemoryStartAddress(address);
     uint8_t chunkSize;
-    uint8_t *verifyBuffer;
-    uint8_t *progBuffer;
+    uint8_t *verifyBuffer = NULL;
+    uint8_t *progBuffer = NULL;
     uint16_t i;
     uint8_t j;
     if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE);
@@ -3328,7 +3337,8 @@
 }
 bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem)
 {
-    uint8_t *progBuffer, success, special;
+    uint8_t success, special;
+    uint8_t *progBuffer = NULL;
     uint16_t i, j;
     if (useProgMem) {
         progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary

diff -r 1e0baaf91e96 -r f8bfb37b2e1f MPU6050.h
--- a/MPU6050.h	Wed May 08 00:34:55 2013 +0000
+++ b/MPU6050.h	Sun May 12 10:54:50 2013 +0000
@@ -102,20 +102,32 @@
 #define MPU6050_RA_INT_ENABLE       0x38
 #define MPU6050_RA_DMP_INT_STATUS   0x39
 #define MPU6050_RA_INT_STATUS       0x3A
+
 #define MPU6050_RA_ACCEL_XOUT_H     0x3B
 #define MPU6050_RA_ACCEL_XOUT_L     0x3C
 #define MPU6050_RA_ACCEL_YOUT_H     0x3D
 #define MPU6050_RA_ACCEL_YOUT_L     0x3E
 #define MPU6050_RA_ACCEL_ZOUT_H     0x3F
 #define MPU6050_RA_ACCEL_ZOUT_L     0x40
+
 #define MPU6050_RA_TEMP_OUT_H       0x41
 #define MPU6050_RA_TEMP_OUT_L       0x42
+
 #define MPU6050_RA_GYRO_XOUT_H      0x43
 #define MPU6050_RA_GYRO_XOUT_L      0x44
 #define MPU6050_RA_GYRO_YOUT_H      0x45
 #define MPU6050_RA_GYRO_YOUT_L      0x46
 #define MPU6050_RA_GYRO_ZOUT_H      0x47
 #define MPU6050_RA_GYRO_ZOUT_L      0x48
+
+#define MPU9150_RA_MAG_ADDRESS      0x0C
+#define MPU9150_RA_MAG_XOUT_L       0x03
+#define MPU9150_RA_MAG_XOUT_H       0x04
+#define MPU9150_RA_MAG_YOUT_L       0x05
+#define MPU9150_RA_MAG_YOUT_H       0x06
+#define MPU9150_RA_MAG_ZOUT_L       0x07
+#define MPU9150_RA_MAG_ZOUT_H       0x08
+
 #define MPU6050_RA_EXT_SENS_DATA_00 0x49
 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A
 #define MPU6050_RA_EXT_SENS_DATA_02 0x4B