MPU9255上的磁力计没有数据

我在MPU9255上从磁力计读取数据时遇到问题。 加速度计和陀螺仪正常工作，但我没有收到磁力计的任何数据。 我正在研究STM32F103目标。

有谁知道下面的代码有什么问题？

uint8_t Settings = 0x00; uint8_t SettingsM = 0x00; uint8_t SettingsL = 0x22; //mode2 16bit //settings accelerometer and gyroscope HAL_I2C_Mem_Write(&hi2c1, 0xD0, 27, I2C_MEMADD_SIZE_8BIT, &Settings,1,1000); HAL_I2C_Mem_Write(&hi2c1, 0xD0, 28, I2C_MEMADD_SIZE_8BIT, &Settings,1,1000); //Power Down mode HAL_I2C_Mem_Write(&hi2c1, 0x0C, 0x0A, I2C_MEMADD_SIZE_8BIT, &SettingsM,1,1000); HAL_Delay(100); //16 bit output mode 2 HAL_I2C_Mem_Write(&hi2c1, 0x0C, 0x0A, I2C_MEMADD_SIZE_8BIT, &SettingsL,1,1000); while (1) { //AX HAL_I2C_Mem_Read(&hi2c1, 0xD0, 59, I2C_MEMADD_SIZE_8BIT, &DAHx,1,100); HAL_I2C_Mem_Read(&hi2c1, 0xD0, 60, I2C_MEMADD_SIZE_8BIT, &DALx,1,100); //AY HAL_I2C_Mem_Read(&hi2c1, 0xD0, 61, I2C_MEMADD_SIZE_8BIT, &DAHy,1,100); HAL_I2C_Mem_Read(&hi2c1, 0xD0, 62, I2C_MEMADD_SIZE_8BIT, &DALy,1,100); //AZ HAL_I2C_Mem_Read(&hi2c1, 0xD0, 63, I2C_MEMADD_SIZE_8BIT, &DAHz,1,100); HAL_I2C_Mem_Read(&hi2c1, 0xD0, 64, I2C_MEMADD_SIZE_8BIT, &DALz,1,100); //Temp HAL_I2C_Mem_Read(&hi2c1, 0xD0, 65, I2C_MEMADD_SIZE_8BIT, &DHT,1,100); HAL_I2C_Mem_Read(&hi2c1, 0xD0, 66, I2C_MEMADD_SIZE_8BIT, &DLT,1,100); //GX HAL_I2C_Mem_Read(&hi2c1, 0xD0, 67, I2C_MEMADD_SIZE_8BIT, &DGHx,1,100); HAL_I2C_Mem_Read(&hi2c1, 0xD0, 68, I2C_MEMADD_SIZE_8BIT, &DGLx,1,100); //GY HAL_I2C_Mem_Read(&hi2c1, 0xD0, 69, I2C_MEMADD_SIZE_8BIT, &DGHy,1,100); HAL_I2C_Mem_Read(&hi2c1, 0xD0, 70, I2C_MEMADD_SIZE_8BIT, &DGLy,1,100); //GZ HAL_I2C_Mem_Read(&hi2c1, 0xD0, 71, I2C_MEMADD_SIZE_8BIT, &DGHz,1,100); HAL_I2C_Mem_Read(&hi2c1, 0xD0, 72, I2C_MEMADD_SIZE_8BIT, &DGLz,1,100); do { HAL_I2C_Mem_Read(&hi2c1, 0x0C, 0x02, I2C_MEMADD_SIZE_8BIT, &ST1,1,100); } while (!(ST1&0x01)); //0x0C - adress AK8963, 0x03-0x08 => HLx-HHz HAL_I2C_Mem_Read(&hi2c1, 0x0C, 0x03, I2C_MEMADD_SIZE_8BIT, &HLx,1,100); HAL_I2C_Mem_Read(&hi2c1, 0x0C, 0x04, I2C_MEMADD_SIZE_8BIT, &HHx,1,100); HAL_I2C_Mem_Read(&hi2c1, 0x0C, 0x05, I2C_MEMADD_SIZE_8BIT, &HLy,1,100); HAL_I2C_Mem_Read(&hi2c1, 0x0C, 0x06, I2C_MEMADD_SIZE_8BIT, &HHy,1,100); HAL_I2C_Mem_Read(&hi2c1, 0x0C, 0x07, I2C_MEMADD_SIZE_8BIT, &HLz,1,100); HAL_I2C_Mem_Read(&hi2c1, 0x0C, 0x08, I2C_MEMADD_SIZE_8BIT, &HHz,1,100); HAL_I2C_Mem_Read(&hi2c1, 0x0C, 0x09, I2C_MEMADD_SIZE_8BIT, &H,1,100); //accelerometer Ax = (int16_t)(DAHx << 8 | DALx); Ay = (int16_t)(DAHy << 8 | DALy); Az = (int16_t)(DAHz << 8 | DALz); //temperature T = (int16_t)(DHT << 8 | DLT); //gyroscope Gx = (int16_t)(DGHx << 8 | DGLx); Gy = (int16_t)(DGHy << 8 | DGLy); Gz = (int16_t)(DGHz << 8 | DGLz); //magnetometer Hx= (int16_t)(HHx << 8 | HLx); Hy= (int16_t)(HHy << 8 | HLy); Hz= (int16_t)(HHz << 8 | HLz); Ax_g = (float)Ax/16384.0; Ay_g = (float)Ay/16384.0; Az_g = (float)Az/16384.0; Gx_g = (float)Gx/131.0; Gy_g = (float)Gy/131.0; Gz_g = (float)Gz/131.0; arx = (180.0/3.141592) * atanf(Ax_g / sqrtf(Ay_g*Ay_g + Az_g*Az_g)); ary = (180.0/3.141592) * atanf(Ay_g / sqrtf((Ax_g*Ax_g + Az_g*Az_g))); rx = (0.96 * arx) + (0.04 * Gx_g); ry = (0.96 * ary) + (0.04 * Gy_g); } 

Answer 1

您需要在MPU9255上启用I2C旁路模式以直接与AK8963通信。 通过以下方式将程序BYPASS_EN的INT引脚/旁路使能配置寄存器（寄存器55）中的BYPASS_EN位置1：

 uint8_t BypassEnable = 0x02; HAL_I2C_Mem_Write(&hi2c1, 0xD0, 55, I2C_MEMADD_SIZE_8BIT, &BypassEnable,1,1000); 

请看这里的工作示例： Arduino传感器10DOF MPU9255无法获取磁力计数据