MPU9150 Magnetometer. Such a big problem

i have used code arduino playground.

code: [select]

// mpu-9150 accelerometer + gyro + compass + temperature
// -----------------------------
//
// arduino.cc user "frtrobotik" (tobias hübner)
//
//
// july 2013
//      first version
//
// open source / public domain
//
// using arduino 1.0.1
// not work older version,
// since wire.endtransmission() uses parameter
// hold or release i2c bus.
//
// documentation:
// - invensense documents:
//   - "mpu-9150 product specification revision 4.0",
//     ps-mpu-9150a.pdf
//   - "mpu-9150 register map , descriptions revision 4.0",
//     rm-mpu-9150a-00.pdf
//   - "mpu-9150 9-axis evaluation board user guide"
//     an-mpu-9150evb-00.pdf
//
// accuracy 16-bits.
//
// parts copied mpu-6050 playground page.
// playground.arduino.cc/main/mpu-6050
// there more registervalues. here most
// nessecary ones started sensor.

#include <wire.h>

// register names according datasheet.
// according invensense document
// "mpu-9150 register map , descriptions revision 4.0",

#define mpu9150_self_test_x        0x0d   // r/w
#define mpu9150_self_test_y        0x0e   // r/w
#define mpu9150_self_test_x        0x0f   // r/w
#define mpu9150_self_test_a        0x10   // r/w
#define mpu9150_smplrt_div         0x19   // r/w
#define mpu9150_config             0x1a   // r/w
#define mpu9150_gyro_config        0x1b   // r/w
#define mpu9150_accel_config       0x1c   // r/w
#define mpu9150_ff_thr             0x1d   // r/w
#define mpu9150_ff_dur             0x1e   // r/w
#define mpu9150_mot_thr            0x1f   // r/w
#define mpu9150_mot_dur            0x20   // r/w
#define mpu9150_zrmot_thr          0x21   // r/w
#define mpu9150_zrmot_dur          0x22   // r/w
#define mpu9150_fifo_en            0x23   // r/w
#define mpu9150_i2c_mst_ctrl       0x24   // r/w
#define mpu9150_i2c_slv0_addr      0x25   // r/w
#define mpu9150_i2c_slv0_reg       0x26   // r/w
#define mpu9150_i2c_slv0_ctrl      0x27   // r/w
#define mpu9150_i2c_slv1_addr      0x28   // r/w
#define mpu9150_i2c_slv1_reg       0x29   // r/w
#define mpu9150_i2c_slv1_ctrl      0x2a   // r/w
#define mpu9150_i2c_slv2_addr      0x2b   // r/w
#define mpu9150_i2c_slv2_reg       0x2c   // r/w
#define mpu9150_i2c_slv2_ctrl      0x2d   // r/w
#define mpu9150_i2c_slv3_addr      0x2e   // r/w
#define mpu9150_i2c_slv3_reg       0x2f   // r/w
#define mpu9150_i2c_slv3_ctrl      0x30   // r/w
#define mpu9150_i2c_slv4_addr      0x31   // r/w
#define mpu9150_i2c_slv4_reg       0x32   // r/w
#define mpu9150_i2c_slv4_do        0x33   // r/w
#define mpu9150_i2c_slv4_ctrl      0x34   // r/w
#define mpu9150_i2c_slv4_di        0x35   // r  
#define mpu9150_i2c_mst_status     0x36   // r
#define mpu9150_int_pin_cfg        0x37   // r/w
#define mpu9150_int_enable         0x38   // r/w
#define mpu9150_int_status         0x3a   // r  
#define mpu9150_accel_xout_h       0x3b   // r  
#define mpu9150_accel_xout_l       0x3c   // r  
#define mpu9150_accel_yout_h       0x3d   // r  
#define mpu9150_accel_yout_l       0x3e   // r  
#define mpu9150_accel_zout_h       0x3f   // r  
#define mpu9150_accel_zout_l       0x40   // r  
#define mpu9150_temp_out_h         0x41   // r  
#define mpu9150_temp_out_l         0x42   // r  
#define mpu9150_gyro_xout_h        0x43   // r  
#define mpu9150_gyro_xout_l        0x44   // r  
#define mpu9150_gyro_yout_h        0x45   // r  
#define mpu9150_gyro_yout_l        0x46   // r  
#define mpu9150_gyro_zout_h        0x47   // r  
#define mpu9150_gyro_zout_l        0x48   // r  
#define mpu9150_ext_sens_data_00   0x49   // r  
#define mpu9150_ext_sens_data_01   0x4a   // r  
#define mpu9150_ext_sens_data_02   0x4b   // r  
#define mpu9150_ext_sens_data_03   0x4c   // r  
#define mpu9150_ext_sens_data_04   0x4d   // r  
#define mpu9150_ext_sens_data_05   0x4e   // r  
#define mpu9150_ext_sens_data_06   0x4f   // r  
#define mpu9150_ext_sens_data_07   0x50   // r  
#define mpu9150_ext_sens_data_08   0x51   // r  
#define mpu9150_ext_sens_data_09   0x52   // r  
#define mpu9150_ext_sens_data_10   0x53   // r  
#define mpu9150_ext_sens_data_11   0x54   // r  
#define mpu9150_ext_sens_data_12   0x55   // r  
#define mpu9150_ext_sens_data_13   0x56   // r  
#define mpu9150_ext_sens_data_14   0x57   // r  
#define mpu9150_ext_sens_data_15   0x58   // r  
#define mpu9150_ext_sens_data_16   0x59   // r  
#define mpu9150_ext_sens_data_17   0x5a   // r  
#define mpu9150_ext_sens_data_18   0x5b   // r  
#define mpu9150_ext_sens_data_19   0x5c   // r  
#define mpu9150_ext_sens_data_20   0x5d   // r  
#define mpu9150_ext_sens_data_21   0x5e   // r  
#define mpu9150_ext_sens_data_22   0x5f   // r  
#define mpu9150_ext_sens_data_23   0x60   // r  
#define mpu9150_mot_detect_status  0x61   // r  
#define mpu9150_i2c_slv0_do        0x63   // r/w
#define mpu9150_i2c_slv1_do        0x64   // r/w
#define mpu9150_i2c_slv2_do        0x65   // r/w
#define mpu9150_i2c_slv3_do        0x66   // r/w
#define mpu9150_i2c_mst_delay_ctrl 0x67   // r/w
#define mpu9150_signal_path_reset  0x68   // r/w
#define mpu9150_mot_detect_ctrl    0x69   // r/w
#define mpu9150_user_ctrl          0x6a   // r/w
#define mpu9150_pwr_mgmt_1         0x6b   // r/w
#define mpu9150_pwr_mgmt_2         0x6c   // r/w
#define mpu9150_fifo_counth        0x72   // r/w
#define mpu9150_fifo_countl        0x73   // r/w
#define mpu9150_fifo_r_w           0x74   // r/w
#define mpu9150_who_am_i           0x75   // r

//mpu9150 compass
#define mpu9150_cmps_xout_l        0x4a   // r
#define mpu9150_cmps_xout_h        0x4b   // r
#define mpu9150_cmps_yout_l        0x4c   // r
#define mpu9150_cmps_yout_h        0x4d   // r
#define mpu9150_cmps_zout_l        0x4e   // r
#define mpu9150_cmps_zout_h        0x4f   // r


// i2c address 0x69 0x68 depends on wiring.
int mpu9150_i2c_address = 0x68;




here second part.

code: [select]

//variables our values can stored
int cmps[3];
int accl[3];
int gyro[3];
int temp;

void setup()
{      
  // initialize serial bus printing data.
  serial.begin(9600);

  // initialize 'wire' class i2c-bus.
  wire.begin();

  // clear 'sleep' bit start sensor.
  mpu9150_writesensor(mpu9150_pwr_mgmt_1, 0);

  mpu9150_setupcompass();
}


void loop()
{
  // print sensor values sensor provides
  // formated values x, y, , z in order for
  // compass, gyro, acceleration. first value is
  // temperature.

  double dt = ( (double) mpu9150_readsensor(mpu9150_temp_out_l,mpu9150_temp_out_h) + 12412.0) / 340.0;
  serial.print(dt);
  serial.print("  ");
  serial.print(mpu9150_readsensor(mpu9150_cmps_xout_l,mpu9150_cmps_xout_h));
  serial.print("  ");
  serial.print(mpu9150_readsensor(mpu9150_cmps_yout_l,mpu9150_cmps_yout_h));
  serial.print("  ");
  serial.print(mpu9150_readsensor(mpu9150_cmps_zout_l,mpu9150_cmps_zout_h));
  serial.print("  ");
  serial.print(mpu9150_readsensor(mpu9150_gyro_xout_l,mpu9150_gyro_xout_h));
  serial.print("  ");
  serial.print(mpu9150_readsensor(mpu9150_gyro_yout_l,mpu9150_gyro_yout_h));
  serial.print("  ");
  serial.print(mpu9150_readsensor(mpu9150_gyro_zout_l,mpu9150_gyro_zout_h));
  serial.print("  ");
  serial.print(mpu9150_readsensor(mpu9150_accel_xout_l,mpu9150_accel_xout_h));
  serial.print("  ");
  serial.print(mpu9150_readsensor(mpu9150_accel_yout_l,mpu9150_accel_yout_h));
  serial.print("  ");
  serial.print(mpu9150_readsensor(mpu9150_accel_zout_l,mpu9150_accel_zout_h));
  serial.println();
  delay(100);
}

//http://pansenti.wordpress.com/2013/03/26/pansentis-invensense-mpu-9150-software-for-arduino-is-now-on-github/
//thank pansenti setup code.
//i documented 1 later.
void mpu9150_setupcompass(){
  mpu9150_i2c_address = 0x0c;      //change adress compass

  mpu9150_writesensor(0x0a, 0x00); //powerdownmode
  mpu9150_writesensor(0x0a, 0x0f); //selftest
  mpu9150_writesensor(0x0a, 0x00); //powerdownmode

  mpu9150_i2c_address = 0x68;      //change adress mpu

  mpu9150_writesensor(0x24, 0x40); //wait data @ slave0
  mpu9150_writesensor(0x25, 0x8c); //set i2c address @ slave0 @ 0x0c
  mpu9150_writesensor(0x26, 0x02); //set reading @ slave 0 starts
  mpu9150_writesensor(0x27, 0x88); //set offset @ start reading , enable
  mpu9150_writesensor(0x28, 0x0c); //set i2c address @ slv1 @ 0x0c
  mpu9150_writesensor(0x29, 0x0a); //set reading @ slave 1 starts
  mpu9150_writesensor(0x2a, 0x81); //enable @ set length 1
  mpu9150_writesensor(0x64, 0x01); //overvride register
  mpu9150_writesensor(0x67, 0x03); //set delay rate
  mpu9150_writesensor(0x01, 0x80);

  mpu9150_writesensor(0x34, 0x04); //set i2c slv4 delay
  mpu9150_writesensor(0x64, 0x00); //override register
  mpu9150_writesensor(0x6a, 0x00); //clear usr setting
  mpu9150_writesensor(0x64, 0x01); //override register
  mpu9150_writesensor(0x6a, 0x20); //enable master i2c mode
  mpu9150_writesensor(0x34, 0x13); //disable slv4
}

////////////////////////////////////////////////////////////
///////// i2c functions easier values ///////////
////////////////////////////////////////////////////////////

int mpu9150_readsensor(int addrl, int addrh){
  wire.begintransmission(mpu9150_i2c_address);
  wire.write(addrl);
  wire.endtransmission(false);

  wire.requestfrom(mpu9150_i2c_address, 1, true);
  byte l = wire.read();

  wire.begintransmission(mpu9150_i2c_address);
  wire.write(addrh);
  wire.endtransmission(false);

  wire.requestfrom(mpu9150_i2c_address, 1, true);
  byte h = wire.read();

  return (int16_t)((h<<8)+l);
}

int mpu9150_readsensor(int addr){
  wire.begintransmission(mpu9150_i2c_address);
  wire.write(addr);
  wire.endtransmission(false);

  wire.requestfrom(mpu9150_i2c_address, 1, true);
  return wire.read();
}

int mpu9150_writesensor(int addr,int data){
  wire.begintransmission(mpu9150_i2c_address);
  wire.write(addr);
  wire.write(data);
  wire.endtransmission(true);

  return 1;
}

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