Hi,
I use SPI to talk to the MPU9250. I succeeded in uploading the DMP firmware image from the Embedded Motion Driver 6.12 package and I get quaternion and raw accelerometer data output and I also configured the secondary I2C master to read magnetometer data from the internal AK8963 to the EXT_SENS_DATA_XX registers.
I also use the DMP interrupt to trigger the FIFO readout and now I have a few questions:
1. Is ist possible to configure the DMP to also put the magnetometer data into the FIFO? I found a hint in https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/MPU9150/MPU9150_9Axis_MotionApps41.h#L304 that it should be possible but that is an older DMP image and I can't find any documentaion on the numbers in the motion driver setup for DMP's CFG_15 settings that are used to send raw acc and gyro data.
2. I used the DMP's CFG_FIFO_ON_EVENT settings to get an interrupt. I get it at 1kHz and it seems there is really always new data in the FIFO. Is that possible?
3. I read in the comments of the embedded motion drivers sample main.c (and here in some older posts) that DMP sensor fusion currently only works with acc FSR set to 2G but when I set it to 8G it works as well, just a bit more noisy. Is that information still valid?
Regards
Sven
Dear Sven,
A couple of days ago I applied for access to the Developers Corner downloads but no reply so far. Would you be so kind to send me the Embedded Motion Driver 6.12 package? Please?
Would you also share your configuration used to get the quaternion?
Thanks,
Simon