Need help with MPU-9150

Projects Programming
1

I'm using
SparkFun MPU-9150 breakout board
Hterm for Windows / CoolTerm for Mac for testing .
Trying to code it such that it replies with the " Yaw , Pitch & Roll " readings when i request for it using CoolTerm .
However , I've been receiving " 00 00 00 00 " as a reply
I suspect it might be the 'count' that isn't counting causing the readings to be 0x00

void checkADCSCommand(byte byteRead[])
{
byte responseByte[7] = {0x00};
switch(byteRead[2])
{
case 01:
{

if(mpu.getIntDataReadyStatus() == 1) { // wait for data ready status register to update all data registers
mcount++;
// read the raw sensor data
mpu.getAcceleration ( &a1, &a2, &a3 );
ax = a12.0f/32768.0f; // 2 g full range for accelerometer
ay = a22.0f/32768.0f;
az = a3*2.0f/32768.0f;

mpu.getRotation ( &g1, &g2, &g3 );
gx = g1250.0f/32768.0f; // 250 deg/s full range for gyroscope
gy = g2250.0f/32768.0f;
gz = g3250.0f/32768.0f;
if (mcount > 1000/MagRate)
{ // this is a poor man's way of setting the magnetometer read rate (see below)
mpu.getMag ( &m1, &m2, &m3 );
mx = m110.0f1229.0f/4096.0f + 18.0f; // milliGauss (1229 microTesla per 2^12 bits, 10 mG per microTesla)
my = m210.0f1229.0f/4096.0f + 70.0f; // apply calibration offsets in mG that correspond to your environment and magnetometer
mz = m310.0f*1229.0f/4096.0f + 270.0f;
mcount = 0;
}
}

now = micros();
deltat = ((now - lastUpdate)/1000000.0f); // set integration time by time elapsed since last filter update
lastUpdate = now;

// Serial print and/or display at 0.5 s rate independent of data rates
delt_t = millis() - count;
if (delt_t > 500)
{

float yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
float pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
float roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
pitch *= 180.0f / PI;
yaw *= 180.0f / PI - 13.8; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
roll *= 180.0f / PI;
count = millis();
}
FTH.val = pitch ;

responseByte[3] = 0x04;//return 4 bytes
responseByte[4] = FTH.b[3];
responseByte[5] = FTH.b[2];
responseByte[6] = FTH.b[1];
responseByte[7] = FTH.b[0];
replyCommand(byteRead,responseByte,responseByte[3]);

}break;

2

I suspect it might be the 'count' that isn't counting causing the readings to be 0x00

It is silly to suspect code and then not print out the suspect variable's value.

It is also silly to post snippets. Post ALL of your code, AFTER fixing your horrid indenting, using Tools + Auto Format.

By the way, NOTHING follows a } at the end of a function or block, on the same line.

3

And when you do format and post all of your code, please place it within code tags, not inline as in your opening post.

The code tags button in the "Reply" window looks like this:- </>