I use only 4 pins of the sensor, SCL, SDA, Vcc, GND. I have the following Initialization code & reading code:
#define MPU6050_I2C I2C2 #define MPU6050_I2C_RCC_Periph RCC_APB1Periph_I2C2 #define MPU6050_I2C_Port GPIOB #define MPU6050_I2C_SCL_Pin GPIO_Pin_10 #define MPU6050_I2C_SDA_Pin GPIO_Pin_11 #define MPU6050_I2C_RCC_Port RCC_APB2Periph_GPIOB #define MPU6050_I2C_Speed 100000 void MPU6050_I2C_Init(void) { I2C_InitTypeDef I2C_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; /* Enable I2C and GPIO clocks */ RCC_APB1PeriphClockCmd(MPU6050_I2C_RCC_Periph, ENABLE); RCC_APB2PeriphClockCmd(MPU6050_I2C_RCC_Port, ENABLE); /* Configure I2C pins: SCL and SDA */ GPIO_InitStructure.GPIO_Pin = MPU6050_I2C_SCL_Pin | MPU6050_I2C_SDA_Pin; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; GPIO_Init(MPU6050_I2C_Port, &GPIO_InitStructure); I2C_DeInit(MPU6050_I2C); /* I2C Peripheral Enable */ I2C_Cmd(MPU6050_I2C, ENABLE); /* I2C configuration */ I2C_InitStructure.I2C_Mode = I2C_Mode_I2C; I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2; I2C_InitStructure.I2C_OwnAddress1 = 0xD0; // MPU6050 7-bit adress = 0x68, 1-bit left shifted adress = 0xD0; I2C_InitStructure.I2C_Ack = I2C_Ack_Enable; I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; I2C_InitStructure.I2C_ClockSpeed = MPU6050_I2C_Speed; /* Apply I2C configuration after enabling it */ I2C_Init(MPU6050_I2C, &I2C_InitStructure); } void I2C_BufferRead(u8 slAddr, u8* pBuffer, u8 ReadAddr, u16 NumByteToRead) { // ENTR_CRT_SECTION(); /* While the bus is busy */ while(I2C_GetFlagStatus(MPU6050_I2C, I2C_FLAG_BUSY)); /* Send START condition */ I2C_GenerateSTART(MPU6050_I2C, ENABLE); /* Test on EV5 and clear it */ while(!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_MODE_SELECT)); /* Send MPU6050 address (0xD0) for write */ I2C_Send7bitAddress(MPU6050_I2C, slAddr, I2C_Direction_Transmitter); /* Test on EV6 and clear it */ while(!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)); /* Clear EV6 by setting again the PE bit */ I2C_Cmd(MPU6050_I2C, ENABLE); /* Send the MPU6050_Magn's internal address to write to */ I2C_SendData(MPU6050_I2C, ReadAddr); /* Test on EV8 and clear it */ while(!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_BYTE_TRANSMITTED)); /* Send STRAT condition a second time */ I2C_GenerateSTART(MPU6050_I2C, ENABLE); /* Test on EV5 and clear it */ while(!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_MODE_SELECT)); /* Send MPU6050 address for read */ I2C_Send7bitAddress(MPU6050_I2C, slAddr, I2C_Direction_Receiver); /* Test on EV6 and clear it */ while(!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED)); /* While there is data to be read */ while(NumByteToRead) { if(NumByteToRead == 1) { /* Disable Acknowledgement */ I2C_AcknowledgeConfig(MPU6050_I2C, DISABLE); /* Send STOP Condition */ I2C_GenerateSTOP(MPU6050_I2C, ENABLE); } /* Test on EV7 and clear it */ if(I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_BYTE_RECEIVED)) { /* Read a byte from the MPU6050 */ *pBuffer = I2C_ReceiveData(MPU6050_I2C); /* Point to the next location where the byte read will be saved */ pBuffer++; /* Decrement the read bytes counter */ NumByteToRead--; } } /* Enable Acknowledgement to be ready for another reception */ I2C_AcknowledgeConfig(MPU6050_I2C, ENABLE); // EXT_CRT_SECTION(); } This code works fine for me as well as others.
But now i use same files in another project which uses STM32F103RE micricontroller and sensor connected to I2C1 with 10k pull-ups( this time INT pin of MPU6050 connected to PB8, but not configured), rest of the things are same.
#define MPU6050_I2C I2C1 #define MPU6050_I2C_RCC_Periph RCC_APB1Periph_I2C1 #define MPU6050_I2C_Port GPIOB #define MPU6050_I2C_SCL_Pin GPIO_Pin_6 #define MPU6050_I2C_SDA_Pin GPIO_Pin_7 I call the I2C_BufferRead function just after initialization. Execution hangs at
/* Test on EV6 and clear it */
while(!I2C_CheckEvent(MPU6050_I2C, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)); Below is the I2C analyzer debug information.
I2C Debug information with Logic16 (not working)
I2C Debug info with Loigc16 for working board
Thank you