void MPU9150::device_setup(){
//Todo: Read calibration values from EPROM
Wire.begin();
MPU.selectDevice(MPUDeviceId);
// MAG fusion temprorarily disabled until we dial in the noisy MAG readings
if (!MPU.init(MPU_UPDATE_RATE, MPU_MAG_MIX_GYRO_ONLY, MAG_UPDATE_RATE, MPU_LPF_RATE)){
Serial.println(F("log:Trying other MPU9150 address to init;"));
Serial.print(F("log:IMU Address was :"));
Serial.print(1);
MPUDeviceId = !MPUDeviceId;
Serial.print(F(" but is now:"));
Serial.print(MPUDeviceId);
Serial.println(";");
MPU.selectDevice(MPUDeviceId);
if (MPU.init(MPU_UPDATE_RATE, MPU_MAG_MIX_GYRO_ONLY, MAG_UPDATE_RATE, MPU_LPF_RATE)){
DidInit = true;
Serial.println(F("log:Init worked the second time;"));
} else {
Serial.println(F("log:Failed to init on both addresses;"));
}
} else {
DidInit = true;
Serial.println(F("log:init on primary addresses;"));
} // start the MPU
Settings::capability_bitarray |= (1 << COMPASS_CAPABLE);
Settings::capability_bitarray |= (1 << ORIENTATION_CAPABLE);
MPU9150ReInit.reset();
}
void MPU9150::device_setup(){
//Todo: Read calibration values from EPROM
Wire.begin();
MPU.selectDevice(1);
MPU.init(MPU_UPDATE_RATE); // start the MPU
Settings::capability_bitarray |= (1 << COMPASS_CAPABLE);
Settings::capability_bitarray |= (1 << ORIENTATION_CAPABLE);
}