Commit 2baa0a1d authored by Birte Kristina Friesel's avatar Birte Kristina Friesel
Browse files

mpu9250: Implement getMagnet function 

TODO: Use ASA[XYZ] for sensitivity adjustment
parent 7f2e4f34

include/driver/mpu9250.h

+1 −1
Original line number Diff line number Diff line
@@ -274,7 +274,7 @@ class MPU9250 { 
		bool getRawMagnet(int *x, int *y, int *z);

		void getAccel(float *g_x, float *g_y, float *g_z);

		void getGyro(float *dps_x, float *dps_y, float *dps_z);

		void getMagnet(int *x, int *y, int *z);

		bool getMagnet(float *ut_x, float *ut_y, float *ut_z);

		float getTemperature();

		void setAccelEnable(bool x, bool y, bool z);

		void setGyroEnable(bool x, bool y, bool z);

src/driver/mpu9250.cc

+15 −0
Original line number Diff line number Diff line
@@ -222,6 +222,21 @@ bool MPU9250::getRawMagnet(int *x, int *y, int *z) 
	}

}



bool MPU9250::getMagnet(float *ut_x, float *ut_y, float *ut_z)

{

	int x, y, z;

	bool success = getRawMagnet(&x, &y, &z);



	if (!success) {

		return false;

	}



	*ut_x = x * 0.15;

	*ut_y = y * 0.15;

	*ut_z = z * 0.15;

	return true;

}



// mpu9250.dfa



void MPU9250::nineAxis()