Diff: MPU9250.h

Revision:

3:423c156187bd

Parent:

2:4e59a37182df

--- a/MPU9250.h	Tue Aug 05 01:37:23 2014 +0000
+++ b/MPU9250.h	Fri Dec 11 00:55:22 2015 +0000
@@ -151,7 +151,7 @@
 #define YA_OFFSET_H      0x7A
 #define YA_OFFSET_L      0x7B
 #define ZA_OFFSET_H      0x7D
-#define ZA_OFFSET_L      0x7E
+#define ZA_OFFSET_L      0x0E
 
 // 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
@@ -625,7 +625,7 @@
 // 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
+   //delay(25); // 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 +648,7 @@
  // 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
+  // delay(25); // 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