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jrowberg / i2cdevlib

I2C device library collection for AVR/Arduino or other C++-based MCUs
http://www.i2cdevlib.com
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About releases #489

Open lve0200 opened 4 years ago

lve0200 commented 4 years ago

Dear Jeff, I'm currently using MPU6050_6Axis_MotionApps20.h and it works OK. However I need 9Axis. The 4.1 9Axis version looks quite old. The newest 6.1 is also only 6Axis. Any plans, updating the 9Axis version? I am wondering, if I should move to 6.1 and try to get the magetos in, or go to the 4.1 version. Concerning 6.1, does the memory image already contain the Magnetometer code and would it just be about configuring the DMP config, or does the mem image also need updating. Looking at the older 4.1 version, what was the particular reason to load the mem image, then overwriting it w/ config data and overwriting it again w/ update data? just as you learnt it, or is there any sequencing implied? Are your releases in any way linked with the official Invensense DMP (Embedded Motion Driver 5.1.1) documentation from 2012, or is this all pure retroengineered, and the releases 2.0-4.1-6.1 are all pure your naming? I see that your 6.1 version has 11 banks as the official motion driver 5.1 has, but there are subtil differences in a few places. Best Regards hans

ZHomeSlice commented 4 years ago

lve0200, Jeff, I can answer this. The DMP firmware code from Invensense now TDK doesn't have any Magnetometer input. it only handles the Quaternion values derived from the Accelerometer and Gyros. It would have been great to have the 9 axis as part of this firmware. Invensense TDK has created a separate library that is available to integrate the magnetometer. mpl.zip

Original archive found here https://www.invensense.com/developers/login/

This is the library that must be integrated into your code to integrate the magnetometer. Can you help with implementing this library? I've not figured out how to include it properly. If this is possible it will provide the ability for the magnetometer values to adjust the gyro values to the magnetic north.

the magnetometer is easily read and data becomes available every 10 ms if we can get this working I will be able to alter the code to open the magnetometer values up. As of now, I haven't dedicated much time to this. Z