Diff: MPU9250.cpp

Revision:

1:ca2a40219dc1

Parent:

0:98a0cccbc509

--- a/MPU9250.cpp	Tue Jul 05 07:09:43 2016 +0000
+++ b/MPU9250.cpp	Mon Feb 24 06:46:33 2020 +0000
@@ -223,6 +223,10 @@
   // can join the I2C bus and all can be controlled by the Arduino as master
    writeByte(MPU9250_ADDRESS, INT_PIN_CFG, 0x22);    
    writeByte(MPU9250_ADDRESS, INT_ENABLE, 0x01);  // Enable data ready (bit 0) interrupt
+   writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x00);
+writeByte(MPU9250_ADDRESS, CONFIG, 0x00);
+writeByte(MPU9250_ADDRESS, 0x1B, 0x18);
+writeByte(MPU9250_ADDRESS, 0x1C, 0x18);
 }
 
 // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
@@ -256,7 +260,7 @@
   writeByte(MPU9250_ADDRESS, CONFIG, 0x01);      // Set low-pass filter to 188 Hz
   writeByte(MPU9250_ADDRESS, SMPLRT_DIV, 0x00);  // Set sample rate to 1 kHz
   writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);  // Set gyro full-scale to 250 degrees per second, maximum sensitivity
-  writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
+  writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x04); // Set accelerometer full-scale to 2 g, maximum sensitivity
  
   uint16_t  gyrosensitivity  = 131;   // = 131 LSB/degrees/sec
   uint16_t  accelsensitivity = 16384;  // = 16384 LSB/g