Use DMP of MPU9250

RE: Use DMP of MPU9250

Sagisawa Yukichi — Tue, 23 May 2017 05:30:10 GMT

hmm. I have not try DMP and BLE. Now, my problem is millis() don't move. And I want to look your code.

RE: Use DMP of MPU9250

satish — Tue, 23 May 2017 05:26:20 GMT

when i try to receive the DMP output via the Bluetooth Application its not working, i thought Nordic Bluetooth (ble) Services are conflicting with DMP code,i can't able to update the device name also.Have you faced it?

RE: Use DMP of MPU9250

Sagisawa Yukichi — Tue, 23 May 2017 04:54:46 GMT

Hi,satish. It's good news:). And I have not added another output. please tell me why conflicting dmp.

RE: Use DMP of MPU9250

satish — Tue, 23 May 2017 04:50:11 GMT

Hi Sagisawa Yukichi ,I can able to load the Firmware Successfully Now thanks for your cooperation and did you added the ble services to your project ? is it working fine with ble services ? because in my code ble is conflicting with the DMP ,i can't able to find the issue .Please help me

RE: Use DMP of MPU9250

Sagisawa Yukichi — Mon, 22 May 2017 09:21:02 GMT

I hope to get your good reply!

RE: Use DMP of MPU9250

satish — Mon, 22 May 2017 04:59:07 GMT

Thanks a lot Sagisawa Yukichi,i will check with my code.once again thanks for your reply.

RE: Use DMP of MPU9250

Sagisawa Yukichi — Mon, 22 May 2017 00:49:12 GMT

Hi satish, I added my code that I changed. I missed writing register.

RE: Use DMP of MPU9250

satish — Sun, 21 May 2017 08:16:14 GMT

Hi Sagisawa Yukichi,

I'm also getting same error i'm glad to here that you solved that error if you don't mind please help me where did you done the modification to load DMP firmware successfully so it really helpful to me.

Thanks .

RE: Use DMP of MPU9250

Sagisawa Yukichi — Fri, 19 May 2017 02:09:25 GMT

I thought again, I solved this problem. This problem was mistake resister to be written.

Thank you for the advice,it was very helpful!!

    if ((errCode = mpu_write_mem(ii, this_write, progBuffer))) {
					free(progBuffer);
        return -3;
    }
    
    if (mpu_read_mem(ii, this_write, cur)){
					free(progBuffer);
        return -4;
			}
        
    if (memcmp(progBuffer, cur, this_write)) {
				printf("this_write = %d \r\n",this_write);
				for (int i = 0; i < this_write ; i++){
				  printf("progBuffer = %x , cur = %x\r\n",progBuffer[i],cur[i]);
				}
				free(progBuffer);
      return -5;
    }

Additional note @2017/05/22

I don't know necessary 2 i2c_write.

#define i2c_write_one call_mpu9250_write_m
#define i2c_write call_mpu9250_write

static uint32_t mpu9250_write(uint8_t address, uint8_t reg, uint32_t length, uint8_t const * p_data)
{
    uint32_t err_code;
	
		for(uint8_t i = 0; i < length ; i++){
			
			uint8_t packet[2] = {(reg+i), p_data[i]};
#ifdef PTEST
			printf("calledw #2\r\n");

				nrf_delay_ms(10);
			printf("%d,%d,%d\r\n",address,packet[0],packet[1]);
	
#endif
			err_code = nrf_drv_twi_tx(&m_twi_instance, address, packet, 2, false);
			if(err_code != NRF_SUCCESS) {
				printf("mpu9250_write error %d\r\n",err_code);
				nrf_delay_ms(50);
				
			  return err_code;
			}
			 #ifdef PTEST
			printf(" timer ");
			//	nrf_delay_ms(10);
			#endif
			
			if(!waitInt(MPU9250_TWI_TIMEOUT)){
					printf(" timeout...w ");
					nrf_delay_ms(10);
					return NRF_ERROR_TIMEOUT;
			}
			twi_done = false;
	
		}
			
			#ifdef PTEST
		printf("write_end! %d\r\n",err_code);
				nrf_delay_ms(10);
			#endif
    return err_code;
}


uint32_t call_mpu9250_write(uint8_t address, uint8_t reg, uint32_t length, uint8_t const * p_data){
		return mpu9250_write(address, reg, length , p_data);
}

static uint32_t mpu9250_write_m(uint8_t address, uint8_t reg, uint32_t length, uint8_t const * p_data)
{
    uint32_t err_code;
	for(uint8_t i = 0; i < length ; i++){
		uint8_t packet[2] = {(reg), p_data[i]}; //write to same regster

#ifdef PTEST
		printf("calledwm #2\r\n");
		nrf_delay_ms(10);
		printf("%d,%d,%d\r\n",address,packet[0],packet[1]);
	    nrf_delay_ms(10);
#endif
			
		err_code = nrf_drv_twi_tx(&m_twi_instance, address, packet, 2, false);

#ifdef PTEST
		printf("end nrf_drv_twi_tx\r\n");
		nrf_delay_ms(10);
#endif			
			
		if(err_code != NRF_SUCCESS) {
			printf("mpu9250_write error %d\r\n",err_code);
			nrf_delay_ms(50);
			return err_code;
		}
			
#ifdef PTEST
		printf(" timer ");
		nrf_delay_ms(10);
#endif
			
		if(!waitInt(MPU9250_TWI_TIMEOUT)){ //if waitInt() return true,then twi is done.
			printf(" timeout...wm ");
			nrf_delay_ms(10);
			return NRF_ERROR_TIMEOUT;
		}
			
		twi_done = false;
	}
		
#ifdef PTEST
	printf("write_m_end! %d\r\n",err_code);
	nrf_delay_ms(10);
	#endif
   return err_code;
}

uint32_t call_mpu9250_write_m(uint8_t address, uint8_t reg, uint32_t length, uint8_t const * p_data){
		return mpu9250_write_m(address, reg, length , p_data);
}

int mpu_write_mem(unsigned short mem_addr, unsigned short length,
        unsigned char *data)
{
    unsigned char tmp[2];

    if (!data)
        return -1;
    if (!st->chip_cfg.sensors)
        return -2;

//		printf("sensors = %d\r\n",st->chip_cfg.sensors);
		
    tmp[0] = (unsigned char)(mem_addr >> 8);
    tmp[1] = (unsigned char)(mem_addr & 0xFF);

    /* Check bank boundaries. */
    if (tmp[0] + length > st->hw->bank_size)
        return -3;

    if (i2c_write(st->hw->addr, st->reg->bank_sel, 2, tmp))
        return -4;
    if (i2c_write_one(st->hw->addr, st->reg->mem_r_w, length, data))
        return -5;
    return 0;
}

RE: Use DMP of MPU9250

Sagisawa Yukichi — Thu, 18 May 2017 14:04:18 GMT

Thanks your comment. and sorry, I mistyped. Error happened at in mpu_load_firmware(), and it returns -5. Because this function failed memcmp. I want to write 0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00, but it was not written. I think there is problems mpu9250_write. However, I can't understand what this solution.

RE: Use DMP of MPU9250

MartinBL — Thu, 18 May 2017 13:49:55 GMT

Thank you.

So you get -5 returned from mpu_write_mem(). That occurs when an error is propagated down the path from mpu_write_mem()->i2c_write()->call_mpu9250_write()->mpu9250_write(). In other words, 501 characters leftadd commentcancelsomething appears to go wrong in mpu9250_write(). You should try to debug your code to figure out exactly what goes on inside this function, which function returns the error, and what the error is.

RE: Use DMP of MPU9250

Sagisawa Yukichi — Thu, 18 May 2017 12:47:14 GMT

Sorry. and upload in zip. Please read my code.

RE: Use DMP of MPU9250

MartinBL — Thu, 18 May 2017 11:18:11 GMT

That was a very confusing web site and I don't read Japanese. Can you edit your original question and attach the relevant files there?

RE: Use DMP of MPU9250

Sagisawa Yukichi — Thu, 18 May 2017 11:07:09 GMT

I can't use dmp, but I could get the data from MPU9250 without dmp in another code. At int mpu_write_mem, return -5.

it's my code. 30.gigafile.nu/0525-c9e344792e26c6753817daea4df43a97d

RE: Use DMP of MPU9250

MartinBL — Thu, 18 May 2017 10:12:46 GMT

Are you able to use the MPU9250 successfully without the DMP?

Do you mind sharing your code showing how you do your read operations?

Do you get any errors returned from the TWO read/write functions?