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MPU6050.c
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MPU6050.c
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#include <htc.h>
#include <stddef.h>
#include <conio.h>
#include <stdlib.h>
#include "i2cMaster.h"
#include "MPU6050.h"
int MPU6050_Test_I2C(void)
{
unsigned char Data = 0x00;
LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_WHO_AM_I, &Data, 1);
if(Data == 0x68)
{
cputs("I2C Read Test Passed, MPU6050 Address: 0x68\r\n");
return(1);
}
cputs("ERROR: I2C Read Test Failed, Stopping\r\n");
return(0);
}
void Setup_MPU6050(void)
{
int loop;
unsigned char TheReg;
// I need code space. Just create a table with register to clear
const unsigned char MPU6050RegTable[]= {
MPU6050_RA_FF_THR, //Freefall threshold of |0mg| LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FF_THR, 0x00);
MPU6050_RA_FF_DUR, //Freefall duration limit of 0 LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FF_DUR, 0x00);
MPU6050_RA_MOT_THR, //Motion threshold of 0mg LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_THR, 0x00);
MPU6050_RA_MOT_DUR, //Motion duration of 0s LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DUR, 0x00);
MPU6050_RA_ZRMOT_THR, //Zero motion threshold LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_THR, 0x00);
MPU6050_RA_ZRMOT_DUR, //Zero motion duration threshold LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_DUR, 0x00);
MPU6050_RA_FIFO_EN, //Disable sensor output to FIFO buffer LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_EN, 0x00);
MPU6050_RA_I2C_MST_CTRL, //AUX I2C setup //Sets AUX I2C to single master control, plus other config LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_CTRL, 0x00);
MPU6050_RA_I2C_SLV0_ADDR, //Setup AUX I2C slaves LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_ADDR, 0x00);
MPU6050_RA_I2C_SLV0_REG, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_REG, 0x00);
MPU6050_RA_I2C_SLV0_CTRL, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_CTRL, 0x00);
MPU6050_RA_I2C_SLV1_ADDR, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_ADDR, 0x00);
MPU6050_RA_I2C_SLV1_REG, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_REG, 0x00);
MPU6050_RA_I2C_SLV1_CTRL, //LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_CTRL, 0x00);
MPU6050_RA_I2C_SLV2_ADDR, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_ADDR, 0x00);
MPU6050_RA_I2C_SLV2_REG, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_REG, 0x00);
MPU6050_RA_I2C_SLV2_CTRL, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_CTRL, 0x00);
MPU6050_RA_I2C_SLV3_ADDR, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_ADDR, 0x00);
MPU6050_RA_I2C_SLV3_REG, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_REG, 0x00);
MPU6050_RA_I2C_SLV3_CTRL, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_CTRL, 0x00);
MPU6050_RA_I2C_SLV4_ADDR, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_ADDR, 0x00);
MPU6050_RA_I2C_SLV4_REG, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_REG, 0x00);
MPU6050_RA_I2C_SLV4_DO, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DO, 0x00);
MPU6050_RA_I2C_SLV4_CTRL, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_CTRL, 0x00);
MPU6050_RA_I2C_SLV4_DI, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DI, 0x00);
MPU6050_RA_INT_PIN_CFG, //MPU6050_RA_I2C_MST_STATUS //Read-only //Setup INT pin and AUX I2C pass through LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_INT_PIN_CFG, 0x00);
MPU6050_RA_INT_ENABLE, //Enable data ready interrupt LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_INT_ENABLE, 0x00);
MPU6050_RA_I2C_SLV0_DO, //Slave out, dont care LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_DO, 0x00);
MPU6050_RA_I2C_SLV1_DO, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_DO, 0x00);
MPU6050_RA_I2C_SLV2_DO, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_DO, 0x00);
MPU6050_RA_I2C_SLV3_DO, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_DO, 0x00);
MPU6050_RA_I2C_MST_DELAY_CTRL, //More slave config LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_DELAY_CTRL, 0x00);
MPU6050_RA_SIGNAL_PATH_RESET, //Reset sensor signal paths LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_SIGNAL_PATH_RESET, 0x00);
MPU6050_RA_MOT_DETECT_CTRL, //Motion detection control LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DETECT_CTRL, 0x00);
MPU6050_RA_USER_CTRL, //Disables FIFO, AUX I2C, FIFO and I2C reset bits to 0 LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_USER_CTRL, 0x00);
MPU6050_RA_CONFIG, //Disable FSync, 256Hz DLPF LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_CONFIG, 0x00);
MPU6050_RA_FF_THR, //Freefall threshold of |0mg| LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FF_THR, 0x00);
MPU6050_RA_FF_DUR, //Freefall duration limit of 0 LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FF_DUR, 0x00);
MPU6050_RA_MOT_THR, //Motion threshold of 0mg LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_THR, 0x00);
MPU6050_RA_MOT_DUR, //Motion duration of 0s LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DUR, 0x00);
MPU6050_RA_ZRMOT_THR, //Zero motion threshold LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_THR, 0x00);
MPU6050_RA_ZRMOT_DUR, //Zero motion duration threshold LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_DUR, 0x00);
MPU6050_RA_FIFO_EN, //Disable sensor output to FIFO buffer LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_EN, 0x00);
MPU6050_RA_I2C_MST_CTRL, //AUX I2C setup //Sets AUX I2C to single master control, plus other config LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_CTRL, 0x00);
MPU6050_RA_I2C_SLV0_ADDR, //Setup AUX I2C slaves LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_ADDR, 0x00);
MPU6050_RA_I2C_SLV0_REG, //LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_REG, 0x00);
MPU6050_RA_I2C_SLV0_CTRL, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_CTRL, 0x00);
MPU6050_RA_I2C_SLV1_ADDR, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_ADDR, 0x00);
MPU6050_RA_I2C_SLV1_REG, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_REG, 0x00);
MPU6050_RA_I2C_SLV1_CTRL, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_CTRL, 0x00);
MPU6050_RA_I2C_SLV2_ADDR, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_ADDR, 0x00);
MPU6050_RA_I2C_SLV2_REG, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_REG, 0x00);
MPU6050_RA_I2C_SLV2_CTRL, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_CTRL, 0x00);
MPU6050_RA_I2C_SLV3_ADDR, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_ADDR, 0x00);
MPU6050_RA_I2C_SLV3_REG, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_REG, 0x00);
MPU6050_RA_I2C_SLV3_CTRL, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_CTRL, 0x00);
MPU6050_RA_I2C_SLV4_ADDR, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_ADDR, 0x00);
MPU6050_RA_I2C_SLV4_REG, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_REG, 0x00);
MPU6050_RA_I2C_SLV4_DO, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DO, 0x00);
MPU6050_RA_I2C_SLV4_CTRL, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_CTRL, 0x00);
MPU6050_RA_I2C_SLV4_DI, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DI, 0x00);
MPU6050_RA_I2C_SLV0_DO, // //Slave out, dont care LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_DO, 0x00);
MPU6050_RA_I2C_SLV1_DO, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_DO, 0x00);
MPU6050_RA_I2C_SLV2_DO, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_DO, 0x00);
MPU6050_RA_I2C_SLV3_DO, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_DO, 0x00);
MPU6050_RA_I2C_MST_DELAY_CTRL, //More slave config LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_DELAY_CTRL, 0x00);
MPU6050_RA_SIGNAL_PATH_RESET, //Reset sensor signal paths LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_SIGNAL_PATH_RESET, 0x00);
MPU6050_RA_MOT_DETECT_CTRL, //Motion detection control LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DETECT_CTRL, 0x00);
MPU6050_RA_USER_CTRL, //Disables FIFO, AUX I2C, FIFO and I2C reset bits to 0 LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_USER_CTRL, 0x00);
MPU6050_RA_INT_PIN_CFG, //MPU6050_RA_I2C_MST_STATUS //Read-only //Setup INT pin and AUX I2C pass through LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_INT_PIN_CFG, 0x00);
MPU6050_RA_INT_ENABLE, //Enable data ready interrupt LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_INT_ENABLE, 0x00);
MPU6050_RA_FIFO_R_W, // LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_R_W, 0x00);
0xff
};
// //Sets sample rate to 8000/1+7 = 1000Hz
// LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_SMPLRT_DIV, 0x07);
//Sets sample rate to 8000/1+15 = 500Hz
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_SMPLRT_DIV, 15);
//Disable gyro self tests, scale of 500 degrees/s
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0b00001000);
//Disable accel self tests, scale of +-16g, no DHPF
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0x18);
loop=0;
do
{
TheReg = MPU6050RegTable[loop++];
if(TheReg==0xff) break;
LDByteWriteI2C(MPU6050_ADDRESS,TheReg,0);
}while(1);
//Sets clock source to gyro reference w/ PLL
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0b00000010);
//Controls frequency of wakeups in accel low power mode plus the sensor standby modes
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_2, 0x00);
//MPU6050_RA_WHO_AM_I //Read-only, I2C address
LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_INT_ENABLE, 0x01);
cputs("\r\nMPU6050 Setup Complete\r\n");
}
GForceStruct CurrentData;
GForceStruct PeakData;
extern near volatile unsigned short Timerms;
void Get_Accel_Values(void)
{
char cval[6];
LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_XOUT_H, cval, 6);
di();
CurrentData.Timer = Timerms;
ei();
CurrentData.Gx = ((cval[0]<<8)|cval[1]);
CurrentData.Gy = ((cval[2]<<8)|cval[3]);
CurrentData.Gz = ((cval[4]<<8)|cval[5]);
// got a problem with Z axis Zero G at -204 numeric value
// CurrentData.Gz+=204;
}
unsigned char GotInt_MPU6050(void)
{
unsigned char uc_temp;
// Do we have a new data
LDByteReadI2C(MPU6050_ADDRESS,MPU6050_RA_INT_STATUS, &uc_temp, 1);
return ((uc_temp & 1) == 1 ? 1 : 0);
}