Login▼/회원가입
After another heroicly wasted day, the MPU9150 finally surrendered all 9 of its data streams. It has so many problems as a 1st run product, a much improved revision negating all of today's work is guaranteed. But with 2 MPU9150's lying around & a definite use, it was time to bang out a workaround just to get the data from it. The DMP firmware isn't going to happen.
Step 1: the 1st I2C command must be to set PWR_MGMT_1 (0x6b) to 0x01 to move it out of sleep mode & set the clock to the gyro oscillator. That puts 1.8V on the REG_OUT pin & 25V on the CPOUT pin. Nothing else works if it isn't the 1st command.
Step 2: set the remaining configuration registers after PWR_MGMT_1
0x37 = 0 // disable i2c passthrough
0x6a = 0 // disable i2c master
0x1b = 0 // gyro config
0x1c = 0 // accel config
0x19 = 0 // desired sample rate divider
The I2C passthrough didn't work. Only using dual I2C busses connected to the mane I2C & the aux I2C worked. The mane I2C reads the gyro & accel. The aux I2C reads the mag.
The real problem is if you simply read the gyro & accel registers, you'll always get the same value. They tried & failed to synchronize the register refreshes with inactivity on the I2C bus.
The only way to get the registers to refresh is to issue a bogus command to the mag on the mane I2C bus. I chose to read the mag status register (0x02) 1st on the mane bus to get the gyro/accel registers to refresh, then read the same mag register on the aux I2C bus to get the real value. It probably counts an unrecognized address as inactivity on the bus.
No amount of hacking could get the registers to update with passthrough enabled. It seemed to consider all communication with passthrough enabled as activity on the bus.
The aux I2C has decent enough pullups to read the mag at a decent rate. The mane I2C needs 1k pullups. It showed no obvious sensitivity to voltage changes between 2.5V & 3V. Its 1.8V regulator must make it immune to supply voltage fluctuations.
Hopefully that helps all the people with jobs involving the MPU9150 pay some of their medicare tax increases.
There's obviously some intended use involving the FIFOs, the myriad of slave registers, & the DMP instead of banging on the aux I2C manually, but any source code revealing how to do it is a closely guarded secret. The Apple model of a basic & premium developer program seems to have caught on at Invensense.