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EE Prom and Magnetometer

TSLPB_Test_5_IMU-magnetometer.ino

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+/*
+ * IMU Test
+ * Temp, Acc_X, Acc_Y, Acc_Z, Gyr_X, Gyr_Y, Gyr_Z, Mag_X, Mag_Y, Mag_Z
+ */
+
+#include <Wire.h>
+
+#define    MPU9250_ADDRESS            0x69    
+#define    MAG_ADDRESS                0x0C
+
+void setup() {
+  Wire.begin();
+  Serial.begin(9600);
+
+  I2CwriteByte(MPU9250_ADDRESS,0x37,0x02);  // Set by pass mode for the magnetometers
+  I2CwriteByte(MAG_ADDRESS,0x0A,0x16);  // Request continuous magnetometer measurements in 16 bits
+
+}
+
+
+void loop() {
+=
+  // :::  Magnetometer ::: 
+
+
+  // Read register Status 1 and wait for the DRDY: Data Ready
+
+  uint8_t ST1;
+  do
+  {
+    I2Cread(MAG_ADDRESS,0x02,1,&ST1);
+  }
+  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[1]<<8 | Mag[0]);
+  int16_t my=(Mag[3]<<8 | Mag[2]);
+  int16_t mz=(Mag[5]<<8 | Mag[4]);
+  /*
+  int16_t mx=-(Mag[3]<<8 | Mag[2]);
+  int16_t my=-(Mag[1]<<8 | Mag[0]);
+  int16_t mz=-(Mag[5]<<8 | Mag[4]);
+  */
+    // real magnetometer NO declination adjust value in uT
+
+  //float conv_m=1;
+  float conv_m=0.1465;   // convertion factor for +-4,800uT range 0.6uT???, 16bits>0.1465, 14bits>0.2929
+  float mx_r=(mx)*conv_m;
+  float my_r=(my)*conv_m;
+  float mz_r=(mz)*conv_m;
+
+
+
+  // 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");
+  */
+  /*  
+  Serial.print (mx,DEC); 
+  Serial.print ("\t");
+  Serial.print (my,DEC);
+  Serial.print ("\t");
+  Serial.print (mz,DEC);  
+  Serial.print ("\t");
+  */
+   //Display the results (magnetic vector values are in micro-Tesla (uT))
+  Serial.print (mx_r,1); 
+  Serial.print ("\t");
+  Serial.print (my_r,1);
+  Serial.print ("\t");
+  Serial.print (mz_r,1);  
+  Serial.print ("\t");
+
+
+  // End of line
+  Serial.println("");
+//  delay(100);    
+}
+
+
+//**************************I2CReadByte()
+// 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();
+
+  // Read Nbytes
+  Wire.requestFrom(Address, Nbytes); 
+  uint8_t index=0;
+  while (Wire.available())
+    Data[index++]=Wire.read();
+}
+
+
+//******************************I2CwriteByte()
+//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();
+}
+
+
+
+
+
+
+