Skip to content

Fix issue Getting Random Values #13

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
NBuiLe wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Fix issue Getting Random Values #13

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 14 additions & 3 deletions Src/mpu6050.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
#define WHO_AM_I_REG 0x75
#define PWR_MGMT_1_REG 0x6B
#define SMPLRT_DIV_REG 0x19
#define CONFIG_REG 0x1A
#define ACCEL_CONFIG_REG 0x1C
#define ACCEL_XOUT_H_REG 0x3B
#define TEMP_OUT_H_REG 0x41
Expand All @@ -51,6 +52,7 @@ const uint16_t i2c_timeout = 100;
const double Accel_Z_corrector = 14418.0;

uint32_t timer;
static uint8_t MPU6050_Initialized = 0U;

Kalman_t KalmanX = {
.Q_angle = 0.001f,
Expand All @@ -67,9 +69,10 @@ uint8_t MPU6050_Init(I2C_HandleTypeDef *I2Cx)
{
uint8_t check;
uint8_t Data;

// power management register 0X6B we should write all 0's to wake the sensor up
uint16_t reg_value = (PWR_MGMT_1_REG << 8U) | 0x00U;
HAL_I2C_Master_Transmit(I2Cx, MPU6050_ADDR, (uint8_t *)&reg_value, 2, 100);
// check device ID WHO_AM_I

HAL_I2C_Mem_Read(I2Cx, MPU6050_ADDR, WHO_AM_I_REG, 1, &check, 1, i2c_timeout);

if (check == 104) // 0x68 will be returned by the sensor if everything goes well
Expand All @@ -78,6 +81,10 @@ uint8_t MPU6050_Init(I2C_HandleTypeDef *I2Cx)
Data = 0;
HAL_I2C_Mem_Write(I2Cx, MPU6050_ADDR, PWR_MGMT_1_REG, 1, &Data, 1, i2c_timeout);

// Low pass filter
Data = 0x04;
HAL_I2C_Mem_Write(I2Cx, MPU6050_ADDR, CONFIG_REG, 1, &Data, 1, 100);

// Set DATA RATE of 1KHz by writing SMPLRT_DIV register
Data = 0x07;
HAL_I2C_Mem_Write(I2Cx, MPU6050_ADDR, SMPLRT_DIV_REG, 1, &Data, 1, i2c_timeout);
Expand All @@ -91,6 +98,7 @@ uint8_t MPU6050_Init(I2C_HandleTypeDef *I2Cx)
// XG_ST=0,YG_ST=0,ZG_ST=0, FS_SEL=0 -> � 250 �/s
Data = 0x00;
HAL_I2C_Mem_Write(I2Cx, MPU6050_ADDR, GYRO_CONFIG_REG, 1, &Data, 1, i2c_timeout);
MPU6050_Initialized = 1U;
return 0;
}
return 1;
Expand All @@ -100,6 +108,7 @@ void MPU6050_Read_Accel(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct)
{
uint8_t Rec_Data[6];

if (MPU6050_Initialized == 0U) return;
// Read 6 BYTES of data starting from ACCEL_XOUT_H register

HAL_I2C_Mem_Read(I2Cx, MPU6050_ADDR, ACCEL_XOUT_H_REG, 1, Rec_Data, 6, i2c_timeout);
Expand All @@ -122,6 +131,7 @@ void MPU6050_Read_Gyro(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct)
{
uint8_t Rec_Data[6];

if (MPU6050_Initialized == 0U) return;
// Read 6 BYTES of data starting from GYRO_XOUT_H register

HAL_I2C_Mem_Read(I2Cx, MPU6050_ADDR, GYRO_XOUT_H_REG, 1, Rec_Data, 6, i2c_timeout);
Expand All @@ -145,6 +155,7 @@ void MPU6050_Read_Temp(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct)
uint8_t Rec_Data[2];
int16_t temp;

if (MPU6050_Initialized == 0U) return;
// Read 2 BYTES of data starting from TEMP_OUT_H_REG register

HAL_I2C_Mem_Read(I2Cx, MPU6050_ADDR, TEMP_OUT_H_REG, 1, Rec_Data, 2, i2c_timeout);
Expand All @@ -157,7 +168,7 @@ void MPU6050_Read_All(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct)
{
uint8_t Rec_Data[14];
int16_t temp;

if (MPU6050_Initialized == 0U) return;
// Read 14 BYTES of data starting from ACCEL_XOUT_H register

HAL_I2C_Mem_Read(I2Cx, MPU6050_ADDR, ACCEL_XOUT_H_REG, 1, Rec_Data, 14, i2c_timeout);
Expand Down