ibrahims Posted January 14, 2015 Report Share Posted January 14, 2015 Hi im trying to access the magnetometers data. I am using Energia. THe following code is being used. The x,y,z values are all nearly the same. If anyone can please post a fix with code this would be helpful. #include <Wire.h>#include <math.h>// Math Constants#define PI 3.142// Address of MPU9150 memory registers.#define MPU9150_SELF_TEST_X 0x0D // R/W#define MPU9150_SELF_TEST_Y 0x0E // R/W#define MPU9150_SELF_TEST_X 0x0F // R/W#define MPU9150_SELF_TEST_A 0x10 // R/W#define MPU9150_SMPLRT_DIV 0x19 // R/W#define MPU9150_CONFIG 0x1A // R/W#define MPU9150_GYRO_CONFIG 0x1B // R/W#define MPU9150_ACCEL_CONFIG 0x1C // R/W#define MPU9150_FF_THR 0x1D // R/W#define MPU9150_FF_DUR 0x1E // R/W#define MPU9150_MOT_THR 0x1F // R/W#define MPU9150_MOT_DUR 0x20 // R/W#define MPU9150_ZRMOT_THR 0x21 // R/W#define MPU9150_ZRMOT_DUR 0x22 // R/W#define MPU9150_FIFO_EN 0x23 // R/W#define MPU9150_I2C_MST_CTRL 0x24 // R/W#define MPU9150_I2C_SLV0_ADDR 0x25 // R/W#define MPU9150_I2C_SLV0_REG 0x26 // R/W#define MPU9150_I2C_SLV0_CTRL 0x27 // R/W#define MPU9150_I2C_SLV1_ADDR 0x28 // R/W#define MPU9150_I2C_SLV1_REG 0x29 // R/W#define MPU9150_I2C_SLV1_CTRL 0x2A // R/W#define MPU9150_I2C_SLV2_ADDR 0x2B // R/W#define MPU9150_I2C_SLV2_REG 0x2C // R/W#define MPU9150_I2C_SLV2_CTRL 0x2D // R/W#define MPU9150_I2C_SLV3_ADDR 0x2E // R/W#define MPU9150_I2C_SLV3_REG 0x2F // R/W#define MPU9150_I2C_SLV3_CTRL 0x30 // R/W#define MPU9150_I2C_SLV4_ADDR 0x31 // R/W#define MPU9150_I2C_SLV4_REG 0x32 // R/W#define MPU9150_I2C_SLV4_DO 0x33 // R/W#define MPU9150_I2C_SLV4_CTRL 0x34 // R/W#define MPU9150_I2C_SLV4_DI 0x35 // R #define MPU9150_I2C_MST_STATUS 0x36 // R#define MPU9150_INT_PIN_CFG 0x37 // R/W#define MPU9150_INT_ENABLE 0x38 // R/W#define MPU9150_INT_STATUS 0x3A // R #define MPU9150_ACCEL_XOUT_H 0x3B // R #define MPU9150_ACCEL_XOUT_L 0x3C // R #define MPU9150_ACCEL_YOUT_H 0x3D // R #define MPU9150_ACCEL_YOUT_L 0x3E // R #define MPU9150_ACCEL_ZOUT_H 0x3F // R #define MPU9150_ACCEL_ZOUT_L 0x40 // R #define MPU9150_TEMP_OUT_H 0x41 // R #define MPU9150_TEMP_OUT_L 0x42 // R #define MPU9150_GYRO_XOUT_H 0x43 // R #define MPU9150_GYRO_XOUT_L 0x44 // R #define MPU9150_GYRO_YOUT_H 0x45 // R #define MPU9150_GYRO_YOUT_L 0x46 // R #define MPU9150_GYRO_ZOUT_H 0x47 // R #define MPU9150_GYRO_ZOUT_L 0x48 // R #define MPU9150_EXT_SENS_DATA_00 0x49 // R #define MPU9150_EXT_SENS_DATA_01 0x4A // R #define MPU9150_EXT_SENS_DATA_02 0x4B // R #define MPU9150_EXT_SENS_DATA_03 0x4C // R #define MPU9150_EXT_SENS_DATA_04 0x4D // R #define MPU9150_EXT_SENS_DATA_05 0x4E // R #define MPU9150_EXT_SENS_DATA_06 0x4F // R #define MPU9150_EXT_SENS_DATA_07 0x50 // R #define MPU9150_EXT_SENS_DATA_08 0x51 // R #define MPU9150_EXT_SENS_DATA_09 0x52 // R #define MPU9150_EXT_SENS_DATA_10 0x53 // R #define MPU9150_EXT_SENS_DATA_11 0x54 // R #define MPU9150_EXT_SENS_DATA_12 0x55 // R #define MPU9150_EXT_SENS_DATA_13 0x56 // R #define MPU9150_EXT_SENS_DATA_14 0x57 // R #define MPU9150_EXT_SENS_DATA_15 0x58 // R #define MPU9150_EXT_SENS_DATA_16 0x59 // R #define MPU9150_EXT_SENS_DATA_17 0x5A // R #define MPU9150_EXT_SENS_DATA_18 0x5B // R #define MPU9150_EXT_SENS_DATA_19 0x5C // R#define MPU9150_EXT_SENS_DATA_20 0x5D // R #define MPU9150_EXT_SENS_DATA_21 0x5E // R #define MPU9150_EXT_SENS_DATA_22 0x5F // R #define MPU9150_EXT_SENS_DATA_23 0x60 // R #define MPU9150_MOT_DETECT_STATUS 0x61 // R #define MPU9150_I2C_SLV0_DO 0x63 // R/W#define MPU9150_I2C_SLV1_DO 0x64 // R/W#define MPU9150_I2C_SLV2_DO 0x65 // R/W#define MPU9150_I2C_SLV3_DO 0x66 // R/W#define MPU9150_I2C_MST_DELAY_CTRL 0x67 // R/W#define MPU9150_SIGNAL_PATH_RESET 0x68 // R/W#define MPU9150_MOT_DETECT_CTRL 0x69 // R/W#define MPU9150_USER_CTRL 0x6A // R/W#define MPU9150_PWR_MGMT_1 0x6B // R/W#define MPU9150_PWR_MGMT_2 0x6C // R/W#define MPU9150_FIFO_COUNTH 0x72 // R/W#define MPU9150_FIFO_COUNTL 0x73 // R/W#define MPU9150_FIFO_R_W 0x74 // R/W#define MPU9150_WHO_AM_I 0x75 // R//MPU9150 Compass#define MPU9150_CMPS_XOUT_L 0x4A // R#define MPU9150_CMPS_XOUT_H 0x4B // R#define MPU9150_CMPS_YOUT_L 0x4C // R#define MPU9150_CMPS_YOUT_H 0x4D // R#define MPU9150_CMPS_ZOUT_L 0x4E // R#define MPU9150_CMPS_ZOUT_H 0x4F // R// I2C address 0x69 could be 0x68 depends on your wiring.int MPU9150_I2C_ADDRESS = 0x68;// Variables to define gyro and accel biasesdouble gyro_bias[3]={0};double acc_bias[3]={0};// Variables where our values can be storeddouble cmps[3]={0};double acc[3]={0};double gyro[3]={0};// State Variablesdouble euler[3]={0};double pos[3]={0};double vel[3]={0};// Time Variablesunsigned long time=0,time_prev=0;// Start of Main Programvoid setup(){ // Initialize the Serial Bus for printing data. Serial.begin(115200); // Initialize the 'Wire' class for the I2C-bus. Wire.begin(); // Clear the 'sleep' bit to start the sensor. MPU9150_write(MPU9150_PWR_MGMT_1, 0); MPU9150_setupCompass(); delay(2000);}void loop(){ // Temperature double dT = ((double)MPU9150_read(MPU9150_TEMP_OUT_L, MPU9150_TEMP_OUT_H) + 12412.0) / 340.0; // Magnetometer int mx=MPU9150_read(MPU9150_CMPS_XOUT_L, MPU9150_CMPS_XOUT_H); int my=MPU9150_read(MPU9150_CMPS_YOUT_L, MPU9150_CMPS_YOUT_H); int mz=MPU9150_read(MPU9150_CMPS_ZOUT_L, MPU9150_CMPS_ZOUT_H); // Gyro Rates int p= MPU9150_read(MPU9150_GYRO_XOUT_L, MPU9150_GYRO_XOUT_H); int q= MPU9150_read(MPU9150_GYRO_YOUT_L, MPU9150_GYRO_YOUT_H); int r= MPU9150_read(MPU9150_GYRO_ZOUT_L, MPU9150_GYRO_ZOUT_H); // Accelerometer int ax=MPU9150_read(MPU9150_ACCEL_XOUT_L, MPU9150_ACCEL_XOUT_H); int ay=MPU9150_read(MPU9150_ACCEL_YOUT_L, MPU9150_ACCEL_YOUT_H); int az=MPU9150_read(MPU9150_ACCEL_ZOUT_L, MPU9150_ACCEL_ZOUT_H); // Get floating point values acc[0]=(double)ax/16384*9.81-acc_bias[0]; acc[1]=(double)ay/16384*9.81-acc_bias[1]; acc[2]=(double)az/16384*9.81-acc_bias[2]; double a[3]={0}; gyro[0]=(double)p/131*PI/180-gyro_bias[0]; gyro[1]=(double)q/131*PI/180-gyro_bias[1]; gyro[2]=(double)r/131*PI/180-gyro_bias[2]; cmps[0]=(double)mx*0.3; cmps[1]=(double)my*0.3; cmps[2]=(double)mz*0.3; Serial.print("T=");Serial.println(dT); Serial.print("ax=");Serial.println(acc[0],4); Serial.print("ay=");Serial.println(acc[1],4); Serial.print("az=");Serial.println(acc[2],4); Serial.print("p=");Serial.println(gyro[0],4); Serial.print("q=");Serial.println(gyro[1],4); Serial.print("r=");Serial.println(gyro[2],4); Serial.print("mx=");Serial.println(cmps[0],4); Serial.print("my=");Serial.println(cmps[1],4); Serial.print("mz=");Serial.println(cmps[2],4); Serial.println("%%%%%%%%%% End of Time Step%%%%%%%%%%"); Serial.println(""); delay(10);} // Set up Compass only oncevoid MPU9150_setupCompass(){ int tempAddress = MPU9150_I2C_ADDRESS; //temporarily store mpu9150 i2c address as it will later be modified MPU9150_I2C_ADDRESS = 0x0C; //change Address to Compass MPU9150_write(0x0A, 0x00); //PowerDownMode MPU9150_write(0x0A, 0x0F); //SelfTest MPU9150_write(0x0A, 0x00); //PowerDownMode //MPU9150_I2C_ADDRESS = 0x68; //change Address to MPU MPU9150_I2C_ADDRESS = tempAddress; //new version to revert to original address MPU9150_write(0x24, 0x40); //Wait for Data at Slave0 MPU9150_write(0x25, 0x8C); //Set i2c address at slave0 at 0x0C MPU9150_write(0x26, 0x02); //Set where reading at slave 0 starts MPU9150_write(0x27, 0x88); //set offset at start reading and enable MPU9150_write(0x28, 0x0C); //set i2c address at slv1 at 0x0C MPU9150_write(0x29, 0x0A); //Set where reading at slave 1 starts MPU9150_write(0x2A, 0x81); //Enable at set length to 1 MPU9150_write(0x64, 0x01); //overvride register MPU9150_write(0x67, 0x03); //set delay rate MPU9150_write(0x01, 0x80); MPU9150_write(0x34, 0x04); //set i2c slv4 delay MPU9150_write(0x64, 0x00); //override register MPU9150_write(0x6A, 0x00); //clear usr setting MPU9150_write(0x64, 0x01); //override register MPU9150_write(0x6A, 0x20); //enable master i2c mode MPU9150_write(0x34, 0x13); //disable slv4}///////////////////////////////////////////////////////////////////// I2C functions to get easier all values ///////////////////////////////////////////////////////////////////////int MPU9150_read(int addrL, int addrH){ Wire.beginTransmission(MPU9150_I2C_ADDRESS); Wire.write(addrL); Wire.endTransmission(false); Wire.requestFrom(MPU9150_I2C_ADDRESS, 1, true); byte L = Wire.read(); Wire.beginTransmission(MPU9150_I2C_ADDRESS); Wire.write(addrH); Wire.endTransmission(false); Wire.requestFrom(MPU9150_I2C_ADDRESS, 1, true); byte H = Wire.read(); return (H << 8) + L;}int MPU9150_write(int addr, int data){ Wire.beginTransmission(MPU9150_I2C_ADDRESS); Wire.write(addr); Wire.write(data); Wire.endTransmission(true); return 1;} CharlesnurE and Samellanak 2 Quote Link to comment Share on other sites More sharing options...
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