Arduino传感器10DOF MPU9255无法获取磁力计数据 [英] Arduino Sensor 10DOF MPU9255 cannot fetch magnetometer data
问题描述
我正在使用带有MPU9255和BMP180的10 DOF IMU来收集方向数据.当我运行下载的arduino草图以测试IMU的功能时,它可以完美地收集来自加速度计和陀螺仪元素的数据,但始终无法从磁力计中请求数据,而从未收到过.它会成功读取一次磁力计数据,但除非重新上传程序,否则再也无法读取.更具体地说,按位和永远不会求和为真,因此程序无法继续进行,因为磁力计的数据未准备好".令人反感的代码行是这样的:
I'm using a 10 DOF IMU with an MPU9255 and a BMP180 to collect orientation data. When I run a sketch for arduino that I downloaded to test the IMU's capabilities, it collects the data from the accelerometer and gyroscope elements perfectly, but is stuck with requesting the data from the magnetometer, which it never receives. It reads the magnetometer data succesfully once, but then can never read it again unless I re-upload the program. More specifically, the bitwise and never evaluates to true, so the program cannot proceed, because the data is "not ready" from the magnetometer. The offending lines of code are this:
do
{
I2Cread(MAG_ADDRESS,0x02,1,&ST1);
}
while (!(ST1&0x01));
这是完整的代码,以防万一
But here is the full code, just in case
#include <Wire.h>
#define MPU9250_ADDRESS 0x68
#define MAG_ADDRESS 0x0C
#define GYRO_FULL_SCALE_250_DPS 0x00
#define GYRO_FULL_SCALE_500_DPS 0x08
#define GYRO_FULL_SCALE_1000_DPS 0x10
#define GYRO_FULL_SCALE_2000_DPS 0x18
#define ACC_FULL_SCALE_2_G 0x00
#define ACC_FULL_SCALE_4_G 0x08
#define ACC_FULL_SCALE_8_G 0x10
#define ACC_FULL_SCALE_16_G 0x18
// This function read Nbytes bytes from I2C device at address Address.
// Put read bytes starting at register Register in the Data array.
void I2Cread(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data)
{
// Set register address
Wire.beginTransmission(Address);
Wire.write(Register);
Wire.endTransmission();
if(Register == 0x02){
Serial.println("Data Not Ready");
}
// Read Nbytes
Wire.requestFrom(Address, Nbytes);
uint8_t index=0;
while (Wire.available())
Data[index++]=Wire.read();
Serial.println("Data: " + *Data);
}
// Write a byte (Data) in device (Address) at register (Register)
void I2CwriteByte(uint8_t Address, uint8_t Register, uint8_t Data)
{
// Set register address
Wire.beginTransmission(Address);
Wire.write(Register);
Wire.write(Data);
Wire.endTransmission();
}
// Initializations
void setup()
{
// Arduino initializations
Wire.begin();
Serial.begin(115200);
// Configure gyroscope range
I2CwriteByte(MPU9250_ADDRESS,27,GYRO_FULL_SCALE_2000_DPS);
// Configure accelerometers range
I2CwriteByte(MPU9250_ADDRESS,28,ACC_FULL_SCALE_16_G);
// Set by pass mode for the magnetometers
I2CwriteByte(MPU9250_ADDRESS,0x37,0x02);
// Request first magnetometer single measurement
I2CwriteByte(MAG_ADDRESS,0x0A,0x01);
}
long int cpt=0;
// Main loop, read and display data
void loop()
{
// _______________
// ::: Counter :::
// Display data counter
Serial.println(cpt++,DEC);
Serial.print ("\t");
// ____________________________________
// ::: accelerometer and gyroscope :::
// Read accelerometer and gyroscope
uint8_t Buf[14];
I2Cread(MPU9250_ADDRESS,0x3B,14,Buf);
// Create 16 bits values from 8 bits data
// Accelerometer
int16_t ax=-(Buf[0]<<8 | Buf[1]);
int16_t ay=-(Buf[2]<<8 | Buf[3]);
int16_t az=Buf[4]<<8 | Buf[5];
// Gyroscope
int16_t gx=-(Buf[8]<<8 | Buf[9]);
int16_t gy=-(Buf[10]<<8 | Buf[11]);
int16_t gz=Buf[12]<<8 | Buf[13];
// Display values
// Accelerometer
Serial.print (ax,DEC);
Serial.print ("\t");
Serial.print (ay,DEC);
Serial.print ("\t");
Serial.print (az,DEC);
Serial.print ("\t");
// Gyroscope
Serial.print (gx,DEC);
Serial.print ("\t");
Serial.print (gy,DEC);
Serial.print ("\t");
Serial.print (gz,DEC);
Serial.print ("\t");
// _____________________
// ::: Magnetometer :::
// Read register Status 1 and wait for the DRDY: Data Ready
//Strong suspicion that this do while loop repeats to infinity
uint8_t ST1;
do
{
I2Cread(MAG_ADDRESS,0x02,1,&ST1);
//Serial.println("Reading");
}
while (!(ST1&0x01));
// Read magnetometer data
uint8_t Mag[7];
I2Cread(MAG_ADDRESS,0x03,7,Mag);
// Create 16 bits values from 8 bits data
// Magnetometer
int16_t mx=-(Mag[3]<<8 | Mag[2]);
int16_t my=-(Mag[1]<<8 | Mag[0]);
int16_t mz=-(Mag[5]<<8 | Mag[4]);
// Magnetometer
Serial.print (mx+200,DEC);
Serial.print ("\t");
Serial.print (my-70,DEC);
Serial.print ("\t");
Serial.print (mz-700,DEC);
Serial.print ("\t");
// End of line
Serial.println("");
delay(100);
}
推荐答案
啊哈,发现了实际的问题:您需要为每个新读数开始磁力计的单次测量:
Aha, found the actual problem: you need to start magnetometer single measurement for every new reading:
// Create 16 bits values from 8 bits data
// Magnetometer
int16_t mx=-(Mag[3]<<8 | Mag[2]);
int16_t my=-(Mag[1]<<8 | Mag[0]);
int16_t mz=-(Mag[5]<<8 | Mag[4]);
// Magnetometer
Serial.print("MAG:\t");
Serial.print (mx+200,DEC);
Serial.print ("\t");
Serial.print (my-70,DEC);
Serial.print ("\t");
Serial.print (mz-700,DEC);
Serial.print ("\t");
// Request first magnetometer single measurement !!!!!
I2CwriteByte(MAG_ADDRESS,0x0A,0x01);
这是从代码末尾开始的,我添加了一行以启动新的阅读.似乎正在工作.
This is from the end of your code, I added a line that initiates a new reading. Seems to be working.
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