Diff: MPU9250.h

Revision:

5:f15d1d9d1561

Parent:

4:79185409730f

Child:

6:c82c48348f8c

--- a/MPU9250.h	Thu Jun 26 13:03:12 2014 +0000
+++ b/MPU9250.h	Sun Jun 29 06:38:21 2014 +0000
@@ -1,38 +1,4 @@
 /*CODED by Qiyong Mu on 21/06/2014
-
-CODED changed from Bruno Alfano on 07/03/2014
-www.xene.it
-
-USAGE (example program):
-#include "mbed.h"
-#include "mpu9250.h"        //Include library
-SPI spi(p11, p12, p13);     //define the SPI (mosi, miso, sclk)
-mpu9250_spi imu(spi,p22);   //define the mpu9250 object
-int main(){
-    if(imu.init(1,BITS_DLPF_CFG_5HZ)){  //INIT the mpu9250
-        printf("\nCouldn't initialize mpu9250 via SPI!");
-    }    
-    wait(0.1);    
-    printf("\n\nWHOAMI=%u\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
-    wait(0.1);    
-    printf("\nGyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS));    //Set full scale range for gyros
-    wait(1);  
-    printf("\nAcc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G));          //Set full scale range for accs
-    wait(0.1);    
-    while(1) {
-        myled = 1;
-        wait(0.3);
-        myled = 0;
-        wait(0.3);
-        printf("\nT=%.3f",imu.read_temp());
-        printf(" X=%.3f",imu.read_acc(0));  
-        printf(" Y=%.3f",imu.read_acc(1)); 
-        printf(" Z=%.3f",imu.read_acc(2));   
-        printf(" rX=%.3f",imu.read_rot(0));  
-        printf(" rY=%.3f",imu.read_rot(1)); 
-        printf(" rZ=%.3f",imu.read_rot(2));
-    }
-}
 */
 
 
@@ -206,7 +172,7 @@
 #define MPUREG_ZA_OFFSET_L         0x7E
 /* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */
 
-#define AK8963_I2C_ADDR             0x18
+#define AK8963_I2C_ADDR             0x0c//0x18
 #define AK8963_Device_ID            0x48
 
 // Read-only Reg