使いやすいように。
Dependencies: ArduinoSerial I2Cdev
Fork of MPU6050 by
Diff: MPU6050.cpp
- Revision:
- 2:f8bfb37b2e1f
- Parent:
- 0:662207e34fba
- Child:
- 3:25e1a5a10e53
--- a/MPU6050.cpp Wed May 08 00:34:55 2013 +0000 +++ b/MPU6050.cpp Sun May 12 10:54:50 2013 +0000 @@ -1882,7 +1882,16 @@ void MPU6050::getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my, int16_t* mz) { getMotion6(ax, ay, az, gx, gy, gz); - // TODO: magnetometer integration + + // magnetometer reading + i2Cdev.writeByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0x02); //set i2c bypass enable pin to true to access magnetometer + wait_ms(10); // necessary wait >=6ms + i2Cdev.writeByte(MPU9150_RA_MAG_ADDRESS, 0x0A, 0x01); // enable the magnetometer + wait_ms(10); // necessary wait >=6ms + i2Cdev.readBytes(MPU9150_RA_MAG_ADDRESS, MPU9150_RA_MAG_XOUT_L, 6, buffer); + *mx = (((int16_t)buffer[0]) << 8) | buffer[1]; + *my = (((int16_t)buffer[2]) << 8) | buffer[3]; + *mz = (((int16_t)buffer[4]) << 8) | buffer[5]; } /** Get raw 6-axis motion sensor readings (accel/gyro). * Retrieves all currently available motion sensor values. @@ -3250,8 +3259,8 @@ setMemoryBank(bank); setMemoryStartAddress(address); uint8_t chunkSize; - uint8_t *verifyBuffer; - uint8_t *progBuffer; + uint8_t *verifyBuffer = NULL; + uint8_t *progBuffer = NULL; uint16_t i; uint8_t j; if (verify) verifyBuffer = (uint8_t *)malloc(MPU6050_DMP_MEMORY_CHUNK_SIZE); @@ -3328,7 +3337,8 @@ } bool MPU6050::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, bool useProgMem) { - uint8_t *progBuffer, success, special; + uint8_t success, special; + uint8_t *progBuffer = NULL; uint16_t i, j; if (useProgMem) { progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary