Hi all,
I'm a newbie in approaching STM32, so sorry if question could be stupid. I am trying to connect via I2C an IMU sensor MPU6050 to my nucleo board STM32f44.
I read data through the following function that I call from main function, as you could see in the following code excerpt.
......
void MPU6050_Get_Accel_RawData(RawData_Def *rawDef)
{
uint8_t i2cBuf[2];
uint8_t AcceArr[6], GyroArr[6];
uint8_t ReadTemp[2];
I2C_Read(INT_STATUS_REG, &i2cBuf[1],1);
if((i2cBuf[1]&&0x01))
{
I2C_Read(ACCEL_XOUT_H_REG, AcceArr,6);
//Accel Raw Data
rawDef->x = ((AcceArr[0]<<8) + AcceArr[1]); // x-Axis
rawDef->y = ((AcceArr[2]<<8) + AcceArr[3]); // y-Axis
rawDef->z = ((AcceArr[4]<<8) + AcceArr[5]); // z-Axis
//Read Temp Data
I2C_Read(TEMP_OUT_H_REG, ReadTemp,2);
Temp=((ReadTemp[0]<<8) + ReadTemp[1]);
//Gyro Raw Data
I2C_Read(GYRO_XOUT_H_REG, GyroArr,6);
GyroRW[0] = ((GyroArr[0]<<8) + GyroArr[1]);
GyroRW[1] = (GyroArr[2]<<8) + GyroArr[3];
GyroRW[2] = ((GyroArr[4]<<8) + GyroArr[5]);
}
}
........
int main(void){
while (1)
{
...
MPU6050_Get_Accel_RawData(....);
...
HAL_Delay(1000);
}
}
If could be useful, I report below the implementation of I2CRead function
void I2C_Read(uint8_t ADDR, uint8_t *i2cBif, uint8_t NofData)
{
uint8_t i2cBuf[2];
uint8_t MPUADDR;
//Need to Shift address to make it proper to i2c operation
MPUADDR = (MPU_ADDR<<1);
i2cBuf[0] = ADDR;
HAL_I2C_Master_Transmit(&i2cHandler, MPUADDR, i2cBuf, 1, 10);
HAL_I2C_Master_Receive(&i2cHandler, MPUADDR, i2cBif, NofData, 100);
}
Said this, what I observe is that while temperature values are constant (as expected), althought my sensor is still, readings of accelerometer (Ax,Ay,Az in the following lines) and gyroscope (Gx,Gy,Gz) values are variable.
Below an example of the output:
Reading #
3197
******
Ax: 70.4....
Ay: 1.34....
Az: 1071....
Gx: -7.9....
Gy: 1.49....
Gz: -1.2....
**** Temperature 23.5 C....
Reading #
3198
******
Ax: 76.2....
Ay: 6.46....
Az: 1066....
Gx: -7.9....
Gy: 1.44....
Gz: -1.2....
**** Temperature 23.5 C....
Why do this happens? Is it a normal behaviour?
Thank you all for your precious help.
