MPU9250 SPI Driver
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