Reset FIFO and DMP #492
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Long story short, Invensense didn't expose DMP control register bits in
their public MPU9250 documents. So bit 3 is DMP reset.
You can use 0x06, or try both and see what difference it makes (none on
power-up initialization), or consult the Motion_Sense code to see how
Invensense does this, or find a MPU9250 DMP application note to see how to
use this register bit, etc.
…On Sat, Nov 11, 2023 at 11:47 PM Mark Berner ***@***.***> wrote:
There is a line in the acc/gyr calibration function
writeByte(MPU9250_ADDRESS, MPU9250_USER_CTRL, 0x0C); // Reset FIFO and DMP
Why value is 0x0C and not 0x6?
0x0C = 0b1100
Bits 2 and 3 are high
But according to documentation for USER_CTRL, bit 3 is Reserved
[image: Screenshot 2023-11-12 at 9 43 38]
<https://user-images.githubusercontent.com/539063/282285459-07d71ae7-e775-465f-91eb-c6ca9f561d98.png>
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Thanks for quick answer and great repository I have another question about calibration I'm porting this code to rust for Pico 10DOF IMU
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What is the question?
…On Sun, Nov 12, 2023 at 10:38 AM Mark Berner ***@***.***> wrote:
Thanks for quick answer and great repository
I have another question about calibration
I'm porting this code to rust for Pico 10DOF IMU
There is a code - writing accelerometer biases, for me it works when I
comment out this code only
// Apparently this is not working for the acceleration biases in the
MPU-9250 // Are we handling the temperature correction bit properly? //
Push accelerometer biases to hardware registers writeByte(MPU9250_ADDRESS,
XA_OFFSET_H, data[0]); writeByte(MPU9250_ADDRESS, XA_OFFSET_L, data[1]);
writeByte(MPU9250_ADDRESS, YA_OFFSET_H, data[2]);
writeByte(MPU9250_ADDRESS, YA_OFFSET_L, data[3]);
writeByte(MPU9250_ADDRESS, ZA_OFFSET_H, data[4]);
writeByte(MPU9250_ADDRESS, ZA_OFFSET_L, data[5]);
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Sorry, should I expect it works properly if I write accelerometer biases or on some boards it will not work. |
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This technically works, that is, you should be able to write the accel
biases to the appropriate registers, but I have found the results to be
unsatisfactory since the LSB is serves double duty as some sort of
indicator bit such that the biases can be slightly off. So I apply accel
biases in the main loop. The gyro bias registers work fine.
…On Sun, Nov 12, 2023 at 10:50 AM Mark Berner ***@***.***> wrote:
Sorry, should I expect it works properly if I write accelerometer biases
or on some boards it will not work.
(on some *ino* files this code commented out)
I'm new with IMU.
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There is a line in the acc/gyr calibration function
writeByte(MPU9250_ADDRESS, MPU9250_USER_CTRL, 0x0C); // Reset FIFO and DMPWhy value is 0x0C and not 0x6?
0x0C = 0b1100
Bits 2 and 3 are high
But according to documentation for USER_CTRL, bit 3 is Reserved
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