MPU9150 Reading accelerometer and accelerometer bias?

I recently got hold of the SDK-MPU9150A. I'm trying to read the accelerometer data and accelerometer bias data. I used the "teapot demo app" source as a start, which compiles fine in visual studio 2008. Need 'glut32.dll' in the same bin dir as the teapot demo to run thou. But the real question I have is deciphering the data. I know by looking at the SDK source ("Embedded_MotionApps-MPU9150-Rel-MSP430F5528-V4_1_0_INVN_9x_HOST-2012-02-14") that

the rx receiving code callback looks like this:

static int rx_cb(char data)

{

if (state.uart_in[0] == 'm') {

if (state.uart_in[1] == 'f')

state.uart_in[2] = data;

else if (data == 'f')

state.uart_in[1] = 'f';

else

memset(&state.uart_in, 0, sizeof(state.uart_in));

} else if (data == 'm')

state.uart_in[0] = 'm';



return 0;

}

It seems to me that i need to send the string "mf" + "some char" where come char can be 'f' 's' 't' 'a' etc... For example, "mfA" sets the some flag to send accelerometer and accelerometer bias data. As seen in this code:

static signed char handle_input(void)

{

signed char result = 0;



switch (state.uart_in[2]) {

case 'f':

case 'F':

/* Change FIFO rate. */

if (state.fifo_ms == 200) {         /* 5Hz */

inv_set_fifo_rate(19);

state.fifo_ms = 100;

} else if (state.fifo_ms == 100) {  /* 10Hz */

inv_set_fifo_rate(9);

state.fifo_ms = 50;

} else if (state.fifo_ms == 50) {   /* 20Hz */

inv_set_fifo_rate(39);

state.fifo_ms = 200;

}

break;

case 's':

case 'S':

/* Change sensors. */

state.cur_sensor = (state.cur_sensor+1) % ARRAY_SIZE(sensor_config);

state.data_send = 0;

/* Handle 9x->6x and 6x->9x transitions. */

if (sensor_config[state.cur_sensor] == INV_NINE_AXIS) {

eMPL_stop();

eMPL_start_mpu(1);

motion_cb(INV_MOTION);

}

else if (sensor_config[state.cur_sensor] == INV_SIX_AXIS_GYRO_ACCEL) {

eMPL_stop();

eMPL_start_mpu(0);

motion_cb(INV_MOTION);

} else

inv_set_mpu_sensors(sensor_config[state.cur_sensor]);

break;

case 't':

case 'T':

/* Self test. */

inv_self_test_calibration_run();

eMPL_stop();

eMPL_start_mpu(1);

break;

case 'a':

case 'A':

if (sensor_config[state.cur_sensor] & INV_THREE_AXIS_ACCEL)

state.data_send ^= (SEND_ACCEL | SEND_ACCEL_BIAS);

break;

case 'g':

case 'G':

if (sensor_config[state.cur_sensor] & INV_THREE_AXIS_GYRO)

state.data_send ^= (SEND_GYRO | SEND_GYRO_BIAS);

break;

case 'm':

case 'M':

if (sensor_config[state.cur_sensor] & INV_THREE_AXIS_COMPASS)

state.data_send ^= (SEND_MAG | SEND_MAG_BIAS | SEND_HEADING);

break;

case 'z':

case 'Z':

/* Exit loop. */

result = -1;

break;

default:

break;

}

memset(&state.uart_in, 0, sizeof(state.uart_in));

return result;

}

Even if I do that I still cannot get the SDK_MPU9150 to send the accelrometer and accelerometer bias data.

I suspect to be 14 bytes long.
where...

* packet[0] = $
* packet[1] = 1 for a debug packet (string of text)
* 2 for a quaternion packet
* 3 for a data packet
* packet[2-12] = data
* packet[13] = r
* packet[14] = n

and packet[8] would be the character tag.

Which packet[8] should be 'a' that identifies the accelerometer and accelerometer bias data being outputted. As seen here:

static void send_data(void)

{

long data[3];

unsigned char out[10];



if (state.data_send & SEND_GYRO) {

if (!inv_get_gyro(data)) {

packetize_data(data, 3, 5, 'g', out);

eMPL_send_packet(PACKET_TYPE_DATA, out);

}

}



if (state.data_send & SEND_GYRO_BIAS) {

if (!inv_get_gyro_bias(data)) {

packetize_data(data, 3, 5, 'b', out);

eMPL_send_packet(PACKET_TYPE_DATA, out);

}

}



if (state.data_send & SEND_ACCEL) {

if (!inv_get_accel(data)) {

packetize_data(data, 3, 12, 'a', out);

eMPL_send_packet(PACKET_TYPE_DATA, out);

}

}

But I do not see that. All I get is the following output from a debug printf I made up over and over again.

In hex.

24 03 FF D3 FF 39 0F EB 2E F7 61 DE 0D 0A
24 03 FF D8 FF 5E 0F E4 2E EB 61 F3 0D 0A
24 03 FF D8 FF 5C 0F E8 2E EA 61 08 0D 0A
24 03 FF D8 FF 5D 0F EC 2E E9 61 1D 0D 0A
24 03 FF D8 FF 5F 0F ED 2E E8 61 32 0D 0A
24 03 FF D6 FF 5C 0F E4 2E E7 61 47 0D 0A
24 03 FF D7 FF 5D 0F E6 2E E6 61 5C 0D 0A
24 03 FF D8 FF 5F 0F E0 2E E4 61 71 0D 0A
24 03 FF DB FF 5C 0F E9 2E E4 61 86 0D 0A
24 03 FF D6 FF 5F 0F E7 2E E4 61 9B 0D 0A
24 03 FF DA FF 5D 0F E8 2E E4 61 B0 0D 0A

where packet 0x2E is the contents of packet[8]. Should it be 0x61 where it is 'a'?

I really hope you can point me in the right direction. I would be nice if there was more documentation for this as I am in a desperate situation to decipher whats in the 'SDK source' and 'tea pot demo'.