Debug printing all over the place
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4 changed files with 56 additions and 61 deletions
36
MPU6050.c
36
MPU6050.c
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@ -7,31 +7,38 @@
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// Function to initialize MPU-6050
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void MPU6050_Init() {
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DEBUG("Initializing MPU6050...");
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DEBUG("MPU6050_init: Initializing...");
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// Wake up MPU-6050 by writing to PWR_MGMT_1 register
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I2C_start(MPU6050_ADDR << 1 | TW_WRITE);
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// These two seem to be causing problems
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// DEBUG("Sending PWR_MGMT_1 register address");
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// I2C_write(MPU6050_REG_PWR_MGMT_1);
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// DEBUG("Writing 0x00 to PWR_MGMT_1 register");
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// I2C_write(0x00); // Clear sleep mode bit
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DEBUG("MPU6050_init: Sending PWR_MGMT_1 register address");
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I2C_write(MPU6050_REG_PWR_MGMT_1);
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DEBUG("Stopping I2C communication");
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DEBUG("Writing 0x00 to PWR_MGMT_1 register");
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I2C_write(0x00); // Clear sleep mode bit
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DEBUG("MPU6050_init: Stopping...");
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I2C_stop();
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DEBUG("MPU6050 Initialized!");
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DEBUG("MPU6050_init: Initialized!");
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}
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// Function to read accelerometer data from MPU-6050
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void MPU6050_Read_Accel(int16_t* accel_data) {
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uint8_t buffer[6]; // Buffer to store accelerometer data
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// Read accelerometer data starting from ACCEL_XOUT_H register
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I2C_start(MPU6050_ADDR << 1 | TW_WRITE);
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DEBUG("MPU6050_Read_Accel: Sending ACCEL_XOUT_H register address");
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I2C_write(MPU6050_REG_ACCEL_XOUT_H);
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DEBUG("MPU6050_Read_Accel: Reading accelerometer data");
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I2C_start(MPU6050_ADDR << 1 | TW_READ);
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for (int i = 0; i < 6; i++) {
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DEBUG("MPU6050_Read_Accel: Reading byte %d", i);
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buffer[i] = I2C_read(i < 5); // Read 6 bytes with ACK for all except last byte
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}
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DEBUG("MPU6050_Read_Accel: Stopping...");
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I2C_stop();
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// Combine high and low bytes for each axis
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@ -42,18 +49,5 @@ void MPU6050_Read_Accel(int16_t* accel_data) {
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// Function to read gyroscope data from MPU-6050
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void MPU6050_Read_Gyro(int16_t* gyro_data) {
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uint8_t buffer[6]; // Buffer to store gyroscope data
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// Read gyroscope data starting from GYRO_XOUT_H register
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I2C_start(MPU6050_ADDR << 1 | TW_WRITE);
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I2C_write(MPU6050_REG_GYRO_XOUT_H);
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I2C_start(MPU6050_ADDR << 1 | TW_READ);
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for (int i = 0; i < 6; i++) {
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buffer[i] = I2C_read(i < 5); // Read 6 bytes with ACK for all except last byte
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}
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I2C_stop();
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// Combine high and low bytes for each axis
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gyro_data[0] = (buffer[0] << 8) | buffer[1]; // X-axis
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gyro_data[1] = (buffer[2] << 8) | buffer[3]; // Y-axis
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gyro_data[2] = (buffer[4] << 8) | buffer[5]; // Z-axis
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// TODO: Implement this function
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}
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39
i2c.c
39
i2c.c
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@ -6,72 +6,95 @@
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#include <stdint.h>
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#include "uart.h" // DEBUG macro
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void I2C_init() {
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void I2C_init(uint32_t SCL_CLOCK) {
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DEBUG("I2C: Initializing...");
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// Set the prescaler to 1
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TWSR &= ~(1 << TWPS0);
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TWSR &= ~(1 << TWPS1);
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// Set the bit rate to 100kHz
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TWBR = ((F_CPU / 100000) - 16) / 2;
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TWBR = ((F_CPU / SCL_CLOCK) - 16) / 2;
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// Enable the TWI module
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TWCR |= (1 << TWEN);
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DEBUG("I2C: Initialized!");
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}
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uint8_t I2C_start(uint8_t addr) {
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// Send the start condition
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TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN);
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DEBUG("Waiting for start condition to be sent");
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DEBUG("Start: Waiting for start condition to be sent");
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// Wait for the start condition to be sent
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while (!(TWCR & (1 << TWINT)))
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;
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DEBUG("Start condition sent");
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DEBUG("Start: Start condition sent");
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// Load the address of the slave device
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TWDR = addr;
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DEBUG("Sending address");
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DEBUG("Start: Sending address");
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// Clear the TWINT bit to start the transmission
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TWCR = (1 << TWINT) | (1 << TWEN);
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DEBUG("Waiting for address to be sent");
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DEBUG("Start: Waiting for address to be sent");
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// Wait for the address to be sent
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while (!(TWCR & (1 << TWINT)))
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;
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DEBUG("Address sent");
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DEBUG("Start: Address sent");
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// Get the status of the transmission
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uint8_t status = TWSR & 0xF8;
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DEBUG("Checking status");
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DEBUG("Start: Checking status");
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// Return true if the slave acknowledged the address
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return (status == TW_MT_SLA_ACK || status == TW_MR_SLA_ACK);
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}
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void I2C_stop() {
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// Send the stop condition
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DEBUG("Stop: Sending stop condition");
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TWCR = (1 << TWINT) | (1 << TWSTO) | (1 << TWEN);
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// Wait for the stop condition to be sent
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DEBUG("Stop: Waiting for stop condition to be sent");
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while (TWCR & (1 << TWSTO))
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;
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DEBUG("Stop: Stop condition sent");
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}
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uint8_t I2C_write(uint8_t data) {
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// Load the data into the data register
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TWDR = data;
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// Start transmission of data
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DEBUG("Write: Sending data");
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TWCR = (1 << TWINT) | (1 << TWEN);
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// Wait for the data to be sent
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DEBUG("Write: Waiting for data to be sent");
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while (!(TWCR & (1 << TWINT)))
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;
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// Return true if the data was sent
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DEBUG("Write: Data transmission complete");
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return (TWSR & 0xF8) == TW_MT_DATA_ACK;
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}
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uint8_t I2C_read(uint8_t ack) {
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DEBUG("Read: Waiting for data to be received");
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// Enable TWI, generate ACK (if ack = 1) and clear TWI interrupt flag
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TWCR = (1 << TWINT) | (1 << TWEN) | (ack << TWEA);
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// Wait until TWI finish its current job (read operation)
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DEBUG("Read: Waiting for TWI to finish current job");
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while (!(TWCR & (1 << TWINT)))
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;
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DEBUG("Read: Data received");
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// Return received data
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return TWDR;
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}
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2
i2c.h
2
i2c.h
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@ -5,7 +5,7 @@
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#define TW_READ 1
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// Function to initialize I2C
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void I2C_init();
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void I2C_init(uint32_t SCL_CLOCK);
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// Function to send start condition
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uint8_t I2C_start(uint8_t addr);
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38
main.c
38
main.c
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@ -33,8 +33,7 @@ void blink() {
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}
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int main(void) {
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// int16_t accel_data[3]; // Array to store accelerometer data (X, Y, Z)
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// int16_t gyro_data[3]; // Array to store gyroscope data (X, Y, Z)
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int16_t accel_data[3]; // Array to store accelerometer data (X, Y, Z)
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int32_t iteration = 0;
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initUART();
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@ -42,7 +41,7 @@ int main(void) {
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DEBUG("DEBUG mode enabled!");
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I2C_init();
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I2C_init(100000);
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UART_println("I2C Initialized!");
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MPU6050_Init();
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@ -50,35 +49,14 @@ int main(void) {
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while (1) {
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UART_println("%d Hello, World!", iteration++);
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_delay_ms(1000);
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// Read accelerometer data
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// MPU6050_Read_Accel(accel_data);
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// // Read gyroscope data
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// MPU6050_Read_Gyro(gyro_data);
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UART_println("Reading MPU6050 accelerometer data...");
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MPU6050_Read_Accel(accel_data);
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UART_println("Accelerometer (mg): X=%d, Y=%d, Z=%d", accel_data[0], accel_data[1], accel_data[2]);
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_delay_ms(1000);
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}
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return 0;
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}
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// int main() {
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// // Initialize MPU-6050
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// i2c_init();
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// MPU6050_Init();
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// while (1) {
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// // Read accelerometer data
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// MPU6050_Read_Accel(accel_data);
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// // Read gyroscope data
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// MPU6050_Read_Gyro(gyro_data);
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// // Print accelerometer and gyroscope data
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// printf("Accelerometer (mg): X=%d, Y=%d, Z=%d\n", accel_data[0],
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// accel_data[1], accel_data[2]); printf("Gyroscope (°/s): X=%d, Y=%d,
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// Z=%d\n", gyro_data[0], gyro_data[1], gyro_data[2]);
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// _delay_ms(1000); // Delay for 1 second
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// }
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// return 0;
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// }
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