Arduino传感器10DOF MPU9255无法获取磁力计数据

我正在使用带有MPU9255和BMP180的10 DOF IMU来收集方向数据。 当我为arduino运行草图时，我下载它来测试IMU的function，它可以完美地收集来自加速度计和陀螺仪元素的数据，但是它仍然无法从磁力计请求数据，而这种数据从未接收过。 它成功读取磁力计数据一次，但除非我重新上传程序，否则再也无法读取它。 更具体地说，按位并且从不评估为真，因此程序无法继续，因为数据从磁力计“未准备好”。 令人讨厌的代码行是这样的：

do { I2Cread(MAG_ADDRESS,0x02,1,&ST1); } while (!(ST1&0x01)); 

但这是完整的代码，以防万一

 #include  #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); } 

Answer 1

啊哈，发现了实际问题：你需要为每个新读数启动磁力计单次测量：

  // 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); 

这是从你的代码结束，我添加了一行启动新的阅读。 似乎工作。