HW: MPU9250 with I2C interface, using IAR EWARM 7.80, using motion driver 6.12 and
unsigned char *mpl_key = (unsigned char*)"eMPL 5.1";
I can see that using motion driver 6.12 code (dmp_read_fifo function call ) I can see raw gyro as [0 0 0] and raw acceleration [20 114 2048] data in HW units fine but when "read_from_mpl" function tries to call Invensense library functions such as "inv_get_sensor_type_gyro" and "inv_get_sensor_type_accel" which are suppose to be compensating for temperature, orientation and sensitivity, I get very large readings back as my gyro and accelerometer readings.
I see very very large sensitivity numbers for GYRO and ACCEL, is that NORMAL ?
My GYRO FSR is chosen to be +-2000, ACCEL to be +-16g.
I have chosen orientation vector for GYRO and ACCEL to be:
static struct platform_data_s gyro_pdata =
{
.orientation = { 1, 0, 0,
0, 1, 0,
0, 0, 1}
};
AND attached is my code file (inv_imu.c) which is taken directly from Invensense motion library modified only for logging and I2C function calls.
Can somebody explain what is going on ?