kriswiner
commented
6 years ago enable 0x68 pass through disable 0x69 pass throough read 0x68 and 0x0c
disable 0x68 pass through enable 0x69 passthrough read 0x69 and 0x0c
On Mon, Nov 13, 2017 at 11:49 PM, likui01 notifications@github.com wrote:
hi, im trying to to connect two MPU9250 to ardinuo. I have been successfully been able to connect the both imu. But im having trouble accessing the magnetometer reading from the imu. Im confuse how to acesss the device and than mag register. it has address 0x0c below is the code. ` Wire.begin(); Serial.begin(38400); pinMode(intPin, INPUT); digitalWrite(intPin, LOW); pinMode(myLed, OUTPUT); digitalWrite(myLed, HIGH);
// Read the WHO_AM_I register, this is a good test of communication byte c1 = readByte(address_1, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
Serial.print("MPU9250 one "); Serial.print("I AM "); Serial.print(c1, HEX); Serial.print(" I should be "); Serial.println(0x71, HEX); delay(1000);
if (c1 == 0x71) // WHO_AM_I should always be 0x68
{ Serial.println("MPU9250 one is online...");
MPU9250SelfTest(address_1,SelfTest1); // Start by performing self test and reporting values Serial.print("x-axis self test: acceleration trim within : "); Serial.print(SelfTest1[0],1); Serial.println("% of factory value"); Serial.print("y-axis self test: acceleration trim within : "); Serial.print(SelfTest1[1],1); Serial.println("% of factory value"); Serial.print("z-axis self test: acceleration trim within : "); Serial.print(SelfTest1[2],1); Serial.println("% of factory value"); Serial.print("x-axis self test: gyration trim within : "); Serial.print(SelfTest1[3],1); Serial.println("% of factory value"); Serial.print("y-axis self test: gyration trim within : "); Serial.print(SelfTest1[4],1); Serial.println("% of factory value"); Serial.print("z-axis self test: gyration trim within : "); Serial.print(SelfTest1[5],1); Serial.println("% of factory value");
} else { Serial.print("Could not connect to MPU9250 one: 0x"); Serial.println(c1, HEX); while(1) ; // Loop forever if communication doesn't happen } calibrateMPU9250(address_1,gyroBias_1, accelBias_1); // Calibrate gyro and accelerometers, load biases in bias registers delay(1000); initMPU9250(address_1); Serial.println("MPU9250 one initialized for active data mode...."); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
// Read the WHO_AM_I register of the magnetometer, this is a good test of communication byte d = readByte(AK8963_ADDRESS, AK8963_WHO_AM_I); // Read WHO_AM_I register for AK8963 Serial.print("AK8963 "); Serial.print("I AM "); Serial.print(d, HEX); Serial.print(" I should be "); Serial.println(0x48, HEX); delay(1000); initAK8963(address_1,magCalibration_1); Serial.println("AK8963 initialized for active data mode...."); // Serial.println(magCalibration_1[0]); Serial.println(","); Serial.println(magCalibration_1[1]); Serial.println(","); Serial.println(magCalibration_1[2]); getMres(); byte c2 = readByte(address_2, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 Serial.print("MPU9250 TWO "); Serial.print("I AM "); Serial.print(c2, HEX); Serial.print(" I should be "); Serial.println(0x71, HEX); delay(1000);
if (c2 == 0x71) // WHO_AM_I should always be 0x68
{ Serial.println("MPU9250 two is online...");
MPU9250SelfTest(address_2,SelfTest2); // Start by performing self test and reporting values Serial.print("x-axis self test: acceleration trim within : "); Serial.print(SelfTest2[0],1); Serial.println("% of factory value"); Serial.print("y-axis self test: acceleration trim within : "); Serial.print(SelfTest2[1],1); Serial.println("% of factory value"); Serial.print("z-axis self test: acceleration trim within : "); Serial.print(SelfTest2[2],1); Serial.println("% of factory value"); Serial.print("x-axis self test: gyration trim within : "); Serial.print(SelfTest2[3],1); Serial.println("% of factory value"); Serial.print("y-axis self test: gyration trim within : "); Serial.print(SelfTest2[4],1); Serial.println("% of factory value"); Serial.print("z-axis self test: gyration trim within : "); Serial.print(SelfTest2[5],1); Serial.println("% of factory value");
} else { Serial.print("Could not connect to MPU9250 two: 0x"); Serial.println(c2, HEX); while(1) ; // Loop forever if communication doesn't happen }
calibrateMPU9250(address_2,gyroBias_2, accelBias_2); // Calibrate gyro and accelerometers, load biases in bias registers delay(1000);
// uncomment for calibration of magnetometer // magcalMPU9250(magbias_1, magScale_1); //Serial.println("AK8963 mag biases (mG)"); Serial.println(magbias[0]); Serial.println(magbias[1]); Serial.println(magbias[2]); //Serial.println("AK8963 mag scale (mG)"); Serial.println(magScale[0]); Serial.println(magScale[1]); Serial.println(magScale[2]); //delay(2000); // add delay to see results before serial spew of dat initMPU9250(address_2);
Serial.println("MPU9250 two initialized for active data mode...."); // Initialize device for active mode read of acclerometer, gyroscope, and temperature byte d1 = readByte(AK8963_ADDRESS, AK8963_WHO_AM_I); // Read WHO_AM_I register for AK8963 Serial.print("AK8963 "); Serial.print("I AM "); Serial.print(d, HEX); Serial.print(" I should be "); Serial.println(0x48, HEX); delay(1000); initAK8963(address_2,magCalibration_2); Serial.println("AK8963 initialized for active data mode...."); // Serial.println(magCalibration_2[0]); Serial.println(","); Serial.println(magCalibration_2[1]); Serial.println(","); Serial.println(magCalibration_2[2]); getMres(); // uncomment for calibration of magnetometer // magcalMPU9250(magbias_2, magScale_2); //Serial.println("AK8963 mag biases (mG)"); Serial.println(magbias_2[0]); Serial.println(magbias_2[1]); Serial.println(magbias_2[2]); //Serial.println("AK8963 mag scale (mG)"); Serial.println(magScale_2[0]); Serial.println(magScale_2[1]); Serial.println(magScale_2[2]); //delay(2000); // add delay to see results before serial spew of dat delay(1000);
}`
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munirfarzeen
mmmatjaz
biomedicalengg
hi, im trying to to connect two MPU9250 to ardinuo. I have been successfully been able to connect the both imu. But im having trouble accessing the magnetometer reading from the imu. Im confuse how to acesss the device and than mag register. it has address 0x0c below is the code. ` Wire.begin(); Serial.begin(38400); pinMode(intPin, INPUT); digitalWrite(intPin, LOW); pinMode(myLed, OUTPUT); digitalWrite(myLed, HIGH);
Serial.print("MPU9250 one "); Serial.print("I AM "); Serial.print(c1, HEX); Serial.print(" I should be "); Serial.println(0x71, HEX); delay(1000);
{
Serial.println("MPU9250 one is online...");
} else { Serial.print("Could not connect to MPU9250 one: 0x"); Serial.println(c1, HEX); while(1) ; // Loop forever if communication doesn't happen } calibrateMPU9250(address_1,gyroBias_1, accelBias_1); // Calibrate gyro and accelerometers, load biases in bias registers delay(1000); initMPU9250(address_1); Serial.println("MPU9250 one initialized for active data mode...."); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
// Read the WHO_AM_I register of the magnetometer, this is a good test of communication byte d = readByte(AK8963_ADDRESS, AK8963_WHO_AM_I); // Read WHO_AM_I register for AK8963 Serial.print("AK8963 "); Serial.print("I AM "); Serial.print(d, HEX); Serial.print(" I should be "); Serial.println(0x48, HEX); delay(1000);
initAK8963(address_1,magCalibration_1); Serial.println("AK8963 initialized for active data mode...."); // Serial.println(magCalibration_1[0]); Serial.println(","); Serial.println(magCalibration_1[1]); Serial.println(","); Serial.println(magCalibration_1[2]); getMres(); byte c2 = readByte(address_2, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250 Serial.print("MPU9250 TWO "); Serial.print("I AM "); Serial.print(c2, HEX); Serial.print(" I should be "); Serial.println(0x71, HEX); delay(1000);
{
Serial.println("MPU9250 two is online...");
} else { Serial.print("Could not connect to MPU9250 two: 0x"); Serial.println(c2, HEX); while(1) ; // Loop forever if communication doesn't happen }
Serial.println("MPU9250 two initialized for active data mode...."); // Initialize device for active mode read of acclerometer, gyroscope, and temperature byte d1 = readByte(AK8963_ADDRESS, AK8963_WHO_AM_I); // Read WHO_AM_I register for AK8963 Serial.print("AK8963 "); Serial.print("I AM "); Serial.print(d, HEX); Serial.print(" I should be "); Serial.println(0x48, HEX); delay(1000);
initAK8963(address_2,magCalibration_2); Serial.println("AK8963 initialized for active data mode...."); // Serial.println(magCalibration_2[0]); Serial.println(","); Serial.println(magCalibration_2[1]); Serial.println(","); Serial.println(magCalibration_2[2]); getMres(); // uncomment for calibration of magnetometer // magcalMPU9250(magbias_2, magScale_2); //Serial.println("AK8963 mag biases (mG)"); Serial.println(magbias_2[0]); Serial.println(magbias_2[1]); Serial.println(magbias_2[2]); //Serial.println("AK8963 mag scale (mG)"); Serial.println(magScale_2[0]); Serial.println(magScale_2[1]); Serial.println(magScale_2[2]); //delay(2000); // add delay to see results before serial spew of dat delay(1000);
}`