[STM32] MPU9250's magnetometer not updating data

[SpareFag]

Hello.
I'm having issues reading magnetometer readings using SPI on a STM32. When using continuous mode 2, data shown is constant. I followed the reading procedure on the AK8963 datasheet. I initialized as follows:
- Power down mode
- wait
- Fuse mode
- Wait
- Read sensitivity adjustment values
- Power down
- Wait
- Go to continuous mode 2

It seems to work as the value 0x16 (the one I set) is always present when I read the CTL1 register.
When reading the magnetometer in the main loop, I follow this procedure: read status one -> check for ready bit -> if ready then read measurements + status 2 -> check status 2 for overflow -> if no overflow then save the measurement.

Here is the code for reading magnetometer:

Code: [Select]

/*** MAGNETOMETER ***/
        uint8_t cmd = 0x80|reg, ready, magdata[7];
uint8_t data[14];

cmd = (MAG_STATUS_1|0x80);
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_RESET);
HAL_SPI_Transmit(hspi, &cmd, 1, 100);
HAL_SPI_Receive(hspi, &ready, sizeof(ready), 100);
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET);

if ((ready & 0x01) == 1) {
cmd = (MAG_DATA|0x80);
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_RESET);
HAL_SPI_Transmit(hspi, &cmd, 1, 100);
HAL_SPI_Receive(hspi, magdata, sizeof(magdata), 100);
HAL_GPIO_WritePin(SPI_CS_GPIO_Port, SPI_CS_Pin, GPIO_PIN_SET);
uint8_t status = magdata[6];

if ((status & 0x8) == 0) {
imu->magneto.x = (float)(((int16_t)magdata[1]<<8) | magdata[0]);
imu->magneto.y = (float)(((int16_t)magdata[3]<<8) | magdata[2]);
imu->magneto.z = (float)(((int16_t)magdata[5]<<8) | magdata[4]);
}
    }

the "imu" is a struct I made. It works fine when reading accelerometer and gyro data. Magnetometer readings are the same no matter the position in which I put the device: 42215.0; 5409.0; 6060.0.

Could anyone help me see my mistake?

[SpareFag]

Small update: I was just checking the WHOAMI's of th MPU and the AK. The AK returned 0xC5, which is obviously wrong, but what's uncanny is that the MPU returned 0x75 instead of 0x71. I have no problem reading the accel and gyro values, and they seem correct (I even simulated the rotation of a 3D rectangle using the raw gyro values and the values seem logical).

Anyway, could anyone explain to me this weird situation, please?

[SpareFag]

My bad, I meant 0x75 instead of 0x71. I edited the previous message.

[SpareFag]

It would be quite troublesome...
Still doesn't explain the weird output when I read the data registers.