Ich habe 2 stück MPU-9150(ein Flyduino Version, ein Sparkfun Version) gekauft für mein Quadkopter, aber igal wie tausche ich den Register für den Magnetometer, die beide liest immer 0,0,0 für alle 3 Magenetfeld Achse. Der Acc. und Gyro funtioniert aber ganz gut. Ich habe auch sehr viele Post von anderen Mensch, der auch diese Problem getroffen, aber kein echte Antwort.
Pull up Widerstand habe ich 2 stück 4.7k benutzt, obwohl von den Schiema es gibt schon zwei 10k draufgebaut. Aber igal mit oder ohne zusatzliche Widerstand, liest er immer noch nichts.
Ich habe heute eine andere potentiale Lösung gesehen und getestet, die sagt, dass bevor ein Daten von Magnetometer geliest wird, man muss Bypass Mode anschalten und dann lesen, danach Bypass Mode wieder ausschalten. Aber wie immer: kein Glück.
Hat jemand hier ein solche Bauteil benutzt und auch diese Problem getroffen?
Hier ist der Code, den ich nutze jetzt.
Code:
// MPU-9150 Accelerometer + Gyro + Compass + Temperature
// -----------------------------
//
// By arduino.cc user "frtrobotik" (Tobias Hübner)
//
//
// July 2013
// first version
//
// Open Source / Public Domain
//
// Using Arduino 1.0.1
// It will not work with an older version,
// since Wire.endTransmission() uses a parameter
// to hold or release the I2C bus.
//
// Documentation:
// - The InvenSense documents:
// - "MPU-9150 Product Specification Revision 4.0",
// PS-MPU-9150A.pdf
// - "MPU-9150 Register Map and Descriptions Revision 4.0",
// RM-MPU-9150A-00.pdf
// - "MPU-9150 9-Axis Evaluation Board User Guide"
// AN-MPU-9150EVB-00.pdf
//
// The accuracy is 16-bits.
//
// Some parts are copied by the MPU-6050 Playground page.
// playground.arduino.cc/Main/MPU-6050
// There are more Registervalues. Here are only the most
// nessecary ones to get started with this sensor.
#include <Wire.h>
// Register names according to the datasheet.
// According to the InvenSense document
// "MPU-9150 Register Map and Descriptions Revision 4.0",
#define MPU_9150_WIA 0x00 // Mag Who I Am
#define MPU_9150_CNTL 0x0A // Magnetometer control
#define MPU_9150_I2C_MAGN_ADDRESS 0x0C // Address of the magnetometer in bypass mode
#define MPU_9150_AKM_ID 0x48 // Mag device ID
#define MPU_9150_ST1 0x02 // Magnetometer status 1
/*
#define MPU_9150_HXL 0x03 // Mag X axis Low
#define MPU_9150_HXH 0x04 // Mag X axis High
#define MPU_9150_HYL 0x05 // Mag Y axis Low
#define MPU_9150_HYH 0x06 // Mag Y axis High
#define MPU_9150_HZL 0x07 // Mag Z axis Low
#define MPU_9150_HZH 0x08 // Mag Z axis High
#define MPU_9150_ST2 0x09 // Magnetometer status 2
*/
#define MPU9150_SELF_TEST_X 0x0D // R/W
#define MPU9150_SELF_TEST_Y 0x0E // R/W
#define MPU9150_SELF_TEST_Z 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 for Compass
#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 of 0x69 depends on your wiring.
int MPU9150_I2C_ADDRESS = 0x68;
//Variables where our values can be stored
int cmps[3];
int accl[3];
int gyro[3];
int temp;
void setup()
{
// Initialize the Serial Bus for printing data.
Serial.begin(9600);
// Initialize the 'Wire' class for the I2C-bus.
Wire.begin();
// Clear the 'sleep' bit to start the sensor. Turn off Sleep Mode
MPU9150_writeSensor(MPU9150_PWR_MGMT_1, 0);
MPU9150_setupCompass();
}
void loop()
{
// Print all sensor values which the sensor provides
// Formated all values as x, y, and z in order for
// Compass, Gyro, Acceleration. The First value is
// the temperature.
double dT = ( (double) MPU9150_readSensor(MPU9150_TEMP_OUT_L,MPU9150_TEMP_OUT_H) + 12412.0) / 340.0;
Serial.print(dT);
Serial.print(" ");
/* Bypass Mode on and off Method
MPU9150_writeSensor(MPU9150_INT_PIN_CFG,0b00000010); // Bypass mode enabled
delay(3);
MPU9150_writeSensor(MPU9150_USER_CTRL,0b01000000);//turn off I2C Master
cmps[1] = MPU9150_readSensor(MPU9150_CMPS_XOUT_L,MPU9150_CMPS_XOUT_H);
cmps[2] = MPU9150_readSensor(MPU9150_CMPS_YOUT_L,MPU9150_CMPS_YOUT_H);
cmps[3] = MPU9150_readSensor(MPU9150_CMPS_ZOUT_L,MPU9150_CMPS_ZOUT_H);
Serial.print(cmps[1]);
Serial.print(" ");
Serial.print(cmps[2]);
Serial.print(" ");
Serial.print(cmps[3]);
Serial.print(" ");
MPU9150_writeSensor(MPU9150_INT_PIN_CFG,0); // Bypass mode disabled
delay(3);
MPU9150_writeSensor(MPU9150_USER_CTRL,0b01100000);//turn on I2C Master
*/
Serial.print(MPU9150_readSensor(MPU9150_CMPS_XOUT_L,MPU9150_CMPS_XOUT_H));
Serial.print(" ");
Serial.print(MPU9150_readSensor(MPU9150_CMPS_YOUT_L,MPU9150_CMPS_YOUT_H));
Serial.print(" ");
Serial.print(MPU9150_readSensor(MPU9150_CMPS_ZOUT_L,MPU9150_CMPS_ZOUT_H));
Serial.print(" ");
Serial.print(MPU9150_readSensor(MPU9150_GYRO_XOUT_L,MPU9150_GYRO_XOUT_H));
Serial.print(" ");
Serial.print(MPU9150_readSensor(MPU9150_GYRO_YOUT_L,MPU9150_GYRO_YOUT_H));
Serial.print(" ");
Serial.print(MPU9150_readSensor(MPU9150_GYRO_ZOUT_L,MPU9150_GYRO_ZOUT_H));
Serial.print(" ");
Serial.print(MPU9150_readSensor(MPU9150_ACCEL_XOUT_L,MPU9150_ACCEL_XOUT_H));
Serial.print(" ");
Serial.print(MPU9150_readSensor(MPU9150_ACCEL_YOUT_L,MPU9150_ACCEL_YOUT_H));
Serial.print(" ");
Serial.print(MPU9150_readSensor(MPU9150_ACCEL_ZOUT_L,MPU9150_ACCEL_ZOUT_H));
Serial.println();
delay(100);
}
//http://pansenti.wordpress.com/2013/03/26/pansentis-invensense-mpu-9150-software-for-arduino-is-now-on-github/
//Thank you to pansenti for setup code.
//I will documented this one later.
void MPU9150_setupCompass(){
MPU9150_I2C_ADDRESS = 0x0C; //change Adress to Compass
MPU9150_writeSensor(0x0A, 0x00); //PowerDownMode
MPU9150_writeSensor(0x0A, 0x0F); //SelfTest
MPU9150_writeSensor(0x0A, 0x00); //PowerDownMode
MPU9150_I2C_ADDRESS = 0x68; //change Adress to MPU
MPU9150_writeSensor(0x24, 0x40); //Wait for Data at Slave0
MPU9150_writeSensor(0x25, 0x8C); //Set i2c address at slave0 at 0x0C
MPU9150_writeSensor(0x26, 0x02); //Set where reading at slave 0 starts
MPU9150_writeSensor(0x27, 0x88); //set offset at start reading and enable
MPU9150_writeSensor(0x28, 0x0C); //set i2c address at slv1 at 0x0C
MPU9150_writeSensor(0x29, 0x0A); //Set where reading at slave 1 starts
MPU9150_writeSensor(0x2A, 0x81); //Enable at set length to 1
MPU9150_writeSensor(0x64, 0x01); //overvride register
MPU9150_writeSensor(0x67, 0x03); //set delay rate
MPU9150_writeSensor(0x01, 0x80);
MPU9150_writeSensor(0x34, 0x04); //set i2c slv4 delay
MPU9150_writeSensor(0x64, 0x00); //override register
MPU9150_writeSensor(0x6A, 0x00); //clear usr setting
MPU9150_writeSensor(0x64, 0x01); //override register
MPU9150_writeSensor(0x6A, 0x20); //enable master i2c mode
MPU9150_writeSensor(0x34, 0x13); //disable slv4
}
////////////////////////////////////////////////////////////
///////// I2C functions to get easier all values ///////////
////////////////////////////////////////////////////////////
int MPU9150_readSensor(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 (int16_t)((H<<8)+L);
}
int MPU9150_readSensor(int addr){
Wire.beginTransmission(MPU9150_I2C_ADDRESS);
Wire.write(addr);
Wire.endTransmission(false);
Wire.requestFrom(MPU9150_I2C_ADDRESS, 1, true);
return Wire.read();
}
int MPU9150_writeSensor(int addr,int data){
Wire.beginTransmission(MPU9150_I2C_ADDRESS);
Wire.write(addr);
Wire.write(data);
Wire.endTransmission(true);
return 1;
}Meng
