STEVAL-MKI245KA IMU readings not updating

[cloudymnms]

I'm using the STEVAL-MKI245KA development kit, trying to get the IMU readings with an AT-Mega through I2C. The I2C communication between the adapter board of the kit is working, but the IMU values recieved by the arduino are not updating. When I run the code to get the accelerometer and gyroscope values, the value is always 0 for all axes acc and gyro. (the reason I know the I2C is working is because when it wasn't working, the values were all -1, but when it does 'work' the values at all 0). 

Here is a screenshot from the datasheet of the IMU with the registers of all the parameters:

And here is the code that I am using to access the values at these registers:

#include <Wire.h>

#define IMU_ADDRESS 0x6B  // Address of the IMU device

void setup() {
  Wire.begin();        // Initialize I2C communication
  
  Serial.begin(9600);  // Initialize serial communication
}

void loop() {
  // Read STATUS_REG register
  Wire.beginTransmission(IMU_ADDRESS);
  Wire.write(0x1E);  // Address of the STATUS_REG register
  Wire.endTransmission(false);
  Wire.requestFrom(IMU_ADDRESS, 1);
  byte status = Wire.read();

  // Check if there is new accelerometer and gyroscope data available
  bool newDataAvailable = (status & 0x03) == 0x03;

  if (newDataAvailable) {
    // Read angular rate of pitch
    int pitch = readAxisData(0x22);  // OUTX_L_G register

    // Read angular rate of roll
    int roll = readAxisData(0x24);   // OUTY_L_G register

    // Read angular rate of yaw
    int yaw = readAxisData(0x26);    // OUTZ_L_G register

    // Read acceleration of X axis
    int accelX = readAxisData(0x28); // OUTX_L_A register

    // Read acceleration of Y axis
    int accelY = readAxisData(0x2A); // OUTY_L_A register

    // Read acceleration of Z axis
    int accelZ = readAxisData(0x2C); // OUTZ_L_A register

    // Print the values
    Serial.print("Pitch: ");
    Serial.println(pitch);
    Serial.print("Roll: ");
    Serial.println(roll);
    Serial.print("Yaw: ");
    Serial.println(yaw);
    Serial.print("Accel X: ");
    Serial.println(accelX);
    Serial.print("Accel Y: ");
    Serial.println(accelY);
    Serial.print("Accel Z: ");
    Serial.println(accelZ);
  }
  else {
    Serial.println("No new data");
  }
  delay(1000);  // Wait for 1 second before reading again
}
int readAxisData(uint8_t reg) {
  Wire.beginTransmission(IMU_ADDRESS);
  Wire.write(reg);
  Wire.endTransmission(false);
  Wire.requestFrom(IMU_ADDRESS, 2);

  // Read the 16-bit value
  int16_t value = Wire.read() | (Wire.read() << 8);

  if (value & (1 << 15)) {
      value = value - 65536; // If negative, convert to 16-bit value
    }

  return value;
}

What am I doing wrong? My end goal is to read and use the IMU accel and gyro values for dead reckoning.

[Federica Bossi]

Hi @cloudymnms ,

Can you try to follow our official PID example on Github and let me know if you will be able to get the data? Thanks