Samuel Lin / MPU9250

1

Dependents:   Task_1_BallRidingbot_KeepingStationCatching_layingDown_1230

Fork of MPU9250_SPI by Mu kylong

Diff: MPU9250.h

Revision:
11:084e8ba240c1
Parent:
10:d27b3298e9e0
Child:
12:2b7b98cf595c
--- a/MPU9250.h	Tue Jul 01 11:09:17 2014 +0000
+++ b/MPU9250.h	Tue Jul 01 13:59:45 2014 +0000
@@ -26,6 +26,7 @@
     unsigned int set_gyro_scale(int scale);
     unsigned int set_acc_scale(int scale);
     void calib_acc();
+    void AK8963_calib_Magnetometer();
     void select();
     void deselect();
     unsigned int whoami();
@@ -37,9 +38,10 @@
     
     float acc_divider;
     float gyro_divider;
-    float Magnetometer_Sensitivity_Scale_Factor;
     
     int calib_data[3];
+    float Magnetometer_ASA[3];
+
     float accelerometer_data[3];
     float Temperature;
     float gyroscope_data[3];
@@ -247,3 +249,4 @@
 
 #define MPU9250T_85degC   ((float)0.002995177763f) // 0.002995177763 degC/LSB
 
+#define     Magnetometer_Sensitivity_Scale_Factor ((float)0.15f)