Rorling
Topic Starter
Hi,everyone! I am trying to get measurements from the MPU-9150 sensor from Invensense using the Intel Edison. I am able to communicate with the sensor and the values seem sensible.
But after a specific number of cycles, I measure only a zero from all data registers. This error is repeatable: When I try to read the Accelerometer and Gyro data(6 data registers), the data stream stops exactly at 84 cycles. If I try to read jus the Accelerometer values, it stops at double the no. of cycles i.e. 168. I sense some data is overflowing, but couldn't figure out yet.
Looking for your reply and Thanks!
Code:
MPU9150.h
//Self Test registers R/W #define SELF_TEST_X 0x0D #define SELF_TEST_Y 0x0E #define SELF_TEST_Z 0x0F #define SELF_TEST_A 0x0A //Configuration Registers #define SMPRT_DIV 0x19 //Sample Rate Divider #define CONFIG 0x1A //FSYNC & DLPF config #define GYRO_CONFIG 0x1B //Self-Test & Scale select #define ACCEL_CONFIG 0x1C //Self-Test & Scale select //Interrupt Registers #define INT_ENABLE 0x38 #define INT_STATUS 0x3A //Accelerometer Measurement Registers #define ACCEL_XOUT_H 0x3B #define ACCEL_XOUT_L 0x3C #define ACCEL_YOUT_H 0x3D #define ACCEL_YOUT_L 0x3E #define ACCEL_ZOUT_H 0x3F #define ACCEL_ZOUT_L 0x40 //Temperature Measurement Registers //Temperature in degrees C = (TEMP_OUT Register Value as a signed quantity)/340 + 35 #define TEMP_OUT_H 0x41 #define TEMP_OUT_L 0x42 //Gyroscope Measurement Registers #define GYRO_XOUT_H 0x43 #define GYRO_XOUT_L 0x44 #define GYRO_YOUT_H 0x45 #define GYRO_YOUT_L 0x46 #define GYRO_ZOUT_H 0x47 #define GYRO_ZOUT_L 0x48 //Power Management Registers #define PWR_MGMT_1 0x6B #define PWR_MGMT_2 0x6C //Device i.d. Register #define WHO_AM_I 0x75 /* R1 - 0x69 R2 - 0x68 */ #define MPU_ADDR 0x68 //Reset the Registers and Power #define PWR_RESET 0x80 #define DEVICE_ON 0x00 //Accelerometer Scale #define ACCEL_2G 0x00 #define ACCEL_4G 0x08 #define ACCEL_8G 0x10 #define ACCEL_16G 0x18 //Gyroscope Scale #define GYRO_250 0x00 #define GYRO_500 0x08 #define GYRO_1000 0x10 #define GYRO_2000 0x18 #define SAMPLE_RATE 0x00 #define DLPF_CFG 0x01
MPU9150.c
#include
#include
#include
#include "mraa.h"
#include "MPU9150.h"
void MPU9150_I2C_Init(void);
void MPU9150_I2C_Config(void);
void MPU9150_I2C_Write(uint8_t address, uint8_t value);
void MPU9150_I2C_Read(uint8_t address, uint8_t *value);
int16_t MPU9150_Get_Measurement(uint8_t addrL, uint8_t addrH);
void sig_handler(int signum);
sig_atomic_t volatile isrunning = 1;
//Acceleometer Measurement Storage Variables
int16_t Accel_X = 0;
int16_t Accel_Y = 0;
int16_t Accel_Z = 0;
//Gyroscope Measurement Storage Variables
int16_t Gyro_X = 0;
int16_t Gyro_Y = 0;
int16_t Gyro_Z = 0;
//Temperature Measurement Storage Variable
float Temperature = 0;
//Variable to Store LOW and HIGH Register values
uint8_t Measurement_L = 0;
uint8_t Measurement_H = 0;
int main(int argc, char **argv)
{
printf("————————————————–\n");
printf("——————eGlove Project——————\n");
printf("————————————————–\n");
sleep(1); //1s delay
signal(SIGINT, &sig_handler);
usleep(1000); //1ms delay
MPU9150_I2C_Init();
sleep(1); //1s delay
MPU9150_I2C_Config();
sleep(1); //1s delay
while(isrunning)
{
//Get Accelerometer Measurements
Accel_X = MPU9150_Get_Measurement(ACCEL_XOUT_L, ACCEL_XOUT_H);
Accel_Y = MPU9150_Get_Measurement(ACCEL_YOUT_L, ACCEL_YOUT_H);
Accel_Z = MPU9150_Get_Measurement(ACCEL_ZOUT_L, ACCEL_ZOUT_H);
//Get Gyroscope Measurements
Gyro_X = MPU9150_Get_Measurement(GYRO_XOUT_L, GYRO_XOUT_H);
Gyro_Y = MPU9150_Get_Measurement(GYRO_YOUT_L, GYRO_YOUT_H);
Gyro_Z = MPU9150_Get_Measurement(GYRO_ZOUT_L, GYRO_ZOUT_H);
//Print Accelerometer Values
printf("Accelerometer:\n X:%d\n Y:%d\n Z:%d\n ", Accel_X, Accel_Y, Accel_Z);
//Print Gyroscope Values
printf("Gyroscope:\n X:%d\n Y:%d\n Z:%d\n ", Gyro_X, Gyro_Y,Gyro_Z);
//Sample Readings every second
sleep(1); //1s delay
}
return MRAA_SUCCESS;
}
void MPU9150_I2C_Init(void)
{
mraa_init();
mraa_i2c_context mpu9150_i2c;
mpu9150_i2c = mraa_i2c_init(1);
if (mpu9150_i2c == NULL)
{
printf("MPU9150 I2C initialization failed, exit…\n");
exit(1);
}
printf("MPU9150 I2C initialized successfully\n");
mraa_i2c_address(mpu9150_i2c, MPU_ADDR);
printf("MPU9150 I2C Address set to 0x%x\n", MPU_ADDR);
}
void MPU9150_I2C_Config(void)
{
mraa_i2c_context mpu9150_i2c;
mpu9150_i2c = mraa_i2c_init(1);
//Reset all the Registers
mraa_i2c_address(mpu9150_i2c, MPU_ADDR);
MPU9150_I2C_Write(PWR_MGMT_1, PWR_RESET);
printf("MPU9150 Reset\n");
sleep(1); //1s delay
mraa_i2c_address(mpu9150_i2c, MPU_ADDR);
MPU9150_I2C_Write(PWR_MGMT_1, DEVICE_ON);
printf("MPU9150 Switched ON\n");
sleep(1); //1s delay
mraa_i2c_address(mpu9150_i2c, MPU_ADDR);
uint8_t data = mraa_i2c_read_byte_data(mpu9150_i2c, WHO_AM_I);
printf("Who am I: 0x%x\n", data);
sleep(1); //1s delay
MPU9150_I2C_Write(SMPRT_DIV, SAMPLE_RATE);
MPU9150_I2C_Write(CONFIG, DLPF_CFG);
//Set the Gyroscope Scale to 250°/s
MPU9150_I2C_Write(GYRO_CONFIG, GYRO_500);
//Set the Accelerometer Scale to 2G
MPU9150_I2C_Write(ACCEL_CONFIG, ACCEL_2G);
printf("Initialization Complete: All Systems are GO!!!\n");
}
void MPU9150_I2C_Write(uint8_t address, uint8_t value)
{
mraa_i2c_context mpu9150_i2c;
mpu9150_i2c = mraa_i2c_init(1);
//Set MPU Device Address
mraa_i2c_address(mpu9150_i2c, MPU_ADDR);
//Write Command and Data
mraa_i2c_write_byte_data(mpu9150_i2c, value, address);
}
void MPU9150_I2C_Read(uint8_t address, uint8_t *value)
{
mraa_i2c_context mpu9150_i2c;
mpu9150_i2c = mraa_i2c_init(1);
//Set ALS Device Address
mraa_i2c_address(mpu9150_i2c, MPU_ADDR);
//Write Command and Read Data
*value = mraa_i2c_read_byte_data(mpu9150_i2c, address);
}
int16_t MPU9150_Get_Measurement(uint8_t addrL, uint8_t addrH)
{
//Read & Store the Lower Byte
MPU9150_I2C_Read(addrL, &Measurement_L);
//Read & Store the Higher Byte
MPU9150_I2C_Read(addrH, &Measurement_H);
return (int16_t)((Measurement_H << 8) + Measurement_L);
}
//Signal Handler
void sig_handler(int signum)
{
if(signum == SIGINT)
{
isrunning = 0;
}
}
Console Screenshot:
Reference:
