yushin yamada / MPU9250

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of MPU9250 by yushin yamada

Files at this revision

API Documentation at this revision

Revision 6:c82c48348f8c, committed 2014-06-29

Comitter:
kylongmu
Date:
Sun Jun 29 07:06:12 2014 +0000
Parent:
5:f15d1d9d1561
Child:
7:1bcd61cdbf18
Commit message:
All is function now!

Changed in this revision

MPU9250.cpp Show annotated file Show diff for this revision Revisions of this file
MPU9250.h Show annotated file Show diff for this revision Revisions of this file 
--- a/MPU9250.cpp	Sun Jun 29 06:38:21 2014 +0000
+++ b/MPU9250.cpp	Sun Jun 29 07:06:12 2014 +0000
@@ -73,7 +73,7 @@
         {0x81, MPUREG_I2C_SLV0_CTRL},  //Enable I2C and set 1 byte
         
         {AK8963_CNTL1, MPUREG_I2C_SLV0_REG}, //I2C slave 0 register address from where to begin data transfer
-        {0x02, MPUREG_I2C_SLV0_DO}, // Register value to continuous measurement in 14bit
+        {0x12, MPUREG_I2C_SLV0_DO}, // Register value to continuous measurement in 16bit
         {0x81, MPUREG_I2C_SLV0_CTRL}  //Enable I2C and set 1 byte
 
         
@@ -286,18 +286,19 @@
 
     set_acc_scale(temp_scale);
 }
-unsigned int mpu9250_spi::AK8963_whoami(){
-    unsigned int response;
+uint8_t mpu9250_spi::AK8963_whoami(){
+    uint8_t response[2];
     WriteReg(MPUREG_I2C_SLV0_ADDR,AK8963_I2C_ADDR|READ_FLAG); //Set the I2C slave addres of AK8963 and set for read.
     WriteReg(MPUREG_I2C_SLV0_REG, AK8963_WIA); //I2C slave 0 register address from where to begin data transfer
-    WriteReg(MPUREG_I2C_SLV0_CTRL, 0x81); //Read 1 byte from the magnetometer
+    WriteReg(MPUREG_I2C_SLV0_CTRL, 0x82); //Read 1 byte from the magnetometer
 
     //WriteReg(MPUREG_I2C_SLV0_CTRL, 0x81);    //Enable I2C and set bytes
-    wait(0.1);
-    response=WriteReg(MPUREG_EXT_SENS_DATA_00, 0x00);    //Read I2C 
+    wait(0.001);
+    //response[0]=WriteReg(MPUREG_EXT_SENS_DATA_01|READ_FLAG, 0x00);    //Read I2C 
+    ReadRegs(MPUREG_EXT_SENS_DATA_00,response,2);
     //response=WriteReg(MPUREG_I2C_SLV0_DO, 0x00);    //Read I2C 
 
-    return response;
+    return response[0];
 }
 void mpu9250_spi::AK8963_read_Magnetometer(){
     uint8_t response[7];
@@ -309,7 +310,7 @@
     WriteReg(MPUREG_I2C_SLV0_REG, AK8963_HXL); //I2C slave 0 register address from where to begin data transfer
     WriteReg(MPUREG_I2C_SLV0_CTRL, 0x87); //Read 6 bytes from the magnetometer
 
-    wait(0.01);
+    wait(0.001);
     ReadRegs(MPUREG_EXT_SENS_DATA_00,response,7);
     //must start your read from AK8963A register 0x03 and read seven bytes so that upon read of ST2 register 0x09 the AK8963A will unlatch the data registers for the next measurement.
     for(i=0; i<3; i++) {

--- a/MPU9250.h	Sun Jun 29 06:38:21 2014 +0000
+++ b/MPU9250.h	Sun Jun 29 07:06:12 2014 +0000
@@ -28,7 +28,7 @@
     void select();
     void deselect();
     unsigned int whoami();
-    unsigned int  AK8963_whoami();
+    uint8_t  AK8963_whoami();
     void AK8963_read_Magnetometer();