C++ 读取磁强计数据MPU9250 AK8963

我编写了使用MPU9250（陀螺仪和加速计）的代码，但无法从另一台AK8963设备读取数据。上面有一个磁强计，我得到静态数据。在i2cdetect中，我只有0x68，即MPU9250。AK8963位于地址0x0C，但不在那里。它是否应该在i2cdetect中可见

我读了手册和地图寄存器，有人说你需要启用Fuse ROM，因为没有它它就不能工作。我将必要的数据写入寄存器，但数据始终是静态的。互联网上所有带有SPI或Arduino的示例。如何初始化AK8963并读取数据？应该打开哪个文件描述符？0x68还是0x0C

#define MPU_ADDRESS 0x68                            //MPU9250 adress
#define I2C_FILE "/dev/i2c-1"                       //Locale i2c file

#define MPU_POWER1 0x6b
#define MPU_POWER2 0x6c

int main(){
    int16_t gx, gy, gz;
    int16_t ax, ay, az;
    int16_t mx, my, mz;
    //MPU9250
    fd = open(I2C_FILE, O_RDONLY | O_WRONLY);
    ioctl(fd, I2C_SLAVE, MPU_ADDRESS);
    //AK8963
    fd_ak8963 = open(I2C_FILE, O_RDONLY | O_WRONLY);
    ioctl(fd_ak8963, I2C_SLAVE, 0x0C);

    HxMagnetometer *magn = new HxMagnetometer(fd);

    while(1){
        magn->magn_get_raw(&mx, &my, &mz);
        printf("mx = %d my = %d mz = %d\n", mx, my, mz);
        printf("%s\n", _buffer);
        //printf("GYRO: x = %d y = %d z = %d\n", gyro->gyro_get_x_raw(), gyro->gyro_get_y_raw(), gyro->gyro_get_z_raw());
        delay(100);
    }

    return 0;
}

班级管理

#include "HxMagnetometer.hpp"

HxMagnetometer::HxMagnetometer(int32_t id){
    device_id = id;

    i2c_smbus_write_byte_data(device_id, AK8963_CNTL, 0x00);
    std::cout << "Power down magnetometer\n";

    i2c_smbus_write_byte_data(device_id, AK8963_CNTL, 0x0F);
    std::cout << "Enter Fuse ROM access mode\n";
    delay(10);

    std::cout << "X: " << i2c_smbus_read_byte_data(device_id, AK8963_ASAX) << std::endl;
    std::cout << "Y: " << i2c_smbus_read_byte_data(device_id, AK8963_ASAY) << std::endl;
    std::cout << "Z: " << i2c_smbus_read_byte_data(device_id, AK8963_ASAZ) << std::endl;

    i2c_smbus_write_byte_data(device_id, AK8963_CNTL, MFS_16BITS << 4 | 0x02);
    std::cout << "Set magnetometer data resolution and sample ODR:" << std::endl;

    i2c_smbus_write_byte_data(device_id, AK8963_CNTL, 0x00);
    std::cout << "Power down magnetometer\n";


}

void HxMagnetometer::magn_get_raw(int16_t* _x_magn_raw, int16_t* _y_magn_raw, int16_t* _z_magn_raw){

    i2c_smbus_write_byte_data(device_id, AK8963_CNTL, 0x0F);
    if (i2c_smbus_read_byte_data(device_id, AK8963_ST1) & 0x01)
    {
        std::cout << "Read status: ok\n";
        *_x_magn_raw = magn_get_x_raw();
        //Get y raw: 0, 1, 0
        *_y_magn_raw = magn_get_y_raw();
        //Get x raw: 0, 0, 1
        *_z_magn_raw = magn_get_z_raw();
    }
    i2c_smbus_write_byte_data(device_id, AK8963_CNTL, 0x00);
    //Get x raw: 1, 0, 0
    // i2c_smbus_read_byte_data(device_id, AK8963_ST2);
    // i2c_smbus_write_byte_data(device_id, AK8963_CNTL1,AK8963_FUSE_ROM);

    // i2c_smbus_write_byte_data(device_id, AK8963_CNTL1,AK8963_PWR_DOWN);
}

//Get x raw
int16_t HxMagnetometer::magn_get_x_raw(void){
    return BITWISE_SHIFT(i2c_smbus_read_byte_data(device_id, 0x03), i2c_smbus_read_byte_data(device_id, 0x04));
}

//Get y raw
int16_t HxMagnetometer::magn_get_y_raw(void){
    return BITWISE_SHIFT(i2c_smbus_read_byte_data(device_id, 0x05), i2c_smbus_read_byte_data(device_id, 0x06));
}

//Get z raw
int16_t HxMagnetometer::magn_get_z_raw(void){
    return BITWISE_SHIFT(i2c_smbus_read_byte_data(device_id, 0x07), i2c_smbus_read_byte_data(device_id, 0x08));
}

#包括“HxMagnetometer.hpp”
HxMagnetometer:：HxMagnetometer（int32_t id）{
设备_id=id；
i2c_smbus_write_byte_数据（设备id，AK8963_CNTL，0x00）；
标准：：cout