Hello
I can read mpu6050 via I2c1 in stm32F4Disco but I cant read mpu6050 in STM32F746 Touchgfx.
All values returns 0.
This is my reading code. it is working in 32F4DISCO:
#define MPU6050_ADDR 0xD0
#define SMPLRT_DIV_REG 0x19
#define GYRO_CONFIG_REG 0x1B
#define ACCEL_CONFIG_REG 0x1C
#define ACCEL_XOUT_H_REG 0x3B
#define TEMP_OUT_H_REG 0x41
#define GYRO_XOUT_H_REG 0x43
#define PWR_MGMT_1_REG 0x6B
#define WHO_AM_I_REG 0x75
int16_t Accel_X_RAW = 0;
int16_t Accel_Y_RAW = 0;
int16_t Accel_Z_RAW = 0;
int16_t Gyro_X_RAW = 0;
int16_t Gyro_Y_RAW = 0;
int16_t Gyro_Z_RAW = 0;
float Ax, Ay, Az, Gx, Gy, Gz;
void MPU6050_Init (void){
uint8_t check, Data;
/*/ First we need to check if the sensor is responding by reading the "WHO_AM_I (0x75)" Register.
If the sensor responds with 0x68, this means it’s available and good to go.
check DEvice ID WHO AM I
/*/
HAL_I2C_Mem_Read (&hi2c1, MPU6050_ADDR,WHO_AM_I_REG,1, &check, 1, 1000);
if (check == 104) // 0x68 will be returned by the sensor if everything goes well
//cihaz olumlu cevap vermisse
{
// power management register 0X6B we should write all 0's to wake the sensor up
Data = 0;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, PWR_MGMT_1_REG, 1,&Data, 1, 1000);
// Set DATA RATE of 1KHz by writing SMPLRT_DIV register
Data = 0x07;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, SMPLRT_DIV_REG, 1, &Data, 1, 1000);
// Set accelerometer configuration in ACCEL_CONFIG Register
// XA_ST=0,YA_ST=0,ZA_ST=0, FS_SEL=0 -> ± 2g
Data = 0x00;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, ACCEL_CONFIG_REG, 1, &Data, 1, 1000);
// Set Gyroscopic configuration in GYRO_CONFIG Register
// XG_ST=0,YG_ST=0,ZG_ST=0, FS_SEL=0 -> ± 250 °/s
Data = 0x00;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, GYRO_CONFIG_REG, 1, &Data, 1, 1000);
}
}
void MPU6050_Read_Accel (void)
{
uint8_t Rec_Data[6];
// Read 6 BYTES of data starting from ACCEL_XOUT_H register
HAL_I2C_Mem_Read (&hi2c1, MPU6050_ADDR, ACCEL_XOUT_H_REG, 1, Rec_Data, 6, 1000);
Accel_X_RAW = (int16_t)(Rec_Data[0] << 8 | Rec_Data [1]);
Accel_Y_RAW = (int16_t)(Rec_Data[2] << 8 | Rec_Data [3]);
Accel_Z_RAW = (int16_t)(Rec_Data[4] << 8 | Rec_Data [5]);
/*** convert the RAW values into acceleration in 'g'
we have to divide according to the Full scale value set in FS_SEL
I have configured FS_SEL = 0. So I am dividing by 16384.0
for more details check ACCEL_CONFIG Register ****/
Ax = 100 * (Accel_X_RAW/16384.0);
Ay = 100 * (Accel_Y_RAW/16384.0);
Az = 100 * (Accel_Z_RAW/16384.0);
}
void MPU6050_Read_Gyro (void)
{
uint8_t Rec_Data[6];
// Read 6 BYTES of data starting from GYRO_XOUT_H register
HAL_I2C_Mem_Read (&hi2c1, MPU6050_ADDR, GYRO_XOUT_H_REG, 1, Rec_Data, 6, 1000);
Gyro_X_RAW = (int16_t)(Rec_Data[0] << 8 | Rec_Data [1]);
Gyro_Y_RAW = (int16_t)(Rec_Data[2] << 8 | Rec_Data [3]);
Gyro_Z_RAW = (int16_t)(Rec_Data[4] << 8 | Rec_Data [5]);
/*** convert the RAW values into dps (°/s)
we have to divide according to the Full scale value set in FS_SEL
I have configured FS_SEL = 0. So I am dividing by 131.0
for more details check GYRO_CONFIG Register ****/
Gx = Gyro_X_RAW/131.0;
Gy = Gyro_Y_RAW/131.0;
Gz = Gyro_Z_RAW/131.0;
}and it is my task code:
void StartgyroOku(void *argument)
{
/* USER CODE BEGIN StartgyroOku */
/* Infinite loop */
for(;;)
{
MPU6050_Read_Accel();
MPU6050_Read_Gyro();
osDelay(100);
}
/* USER CODE END StartgyroOku */
}
