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Imbus 2024-03-24 02:35:05 +01:00
parent 78e3ddce19
commit c43fae4e45
1 changed files with 11 additions and 2 deletions
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13
MPU6050.c
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@ -3,14 +3,23 @@
#include <util/delay.h> #include <util/delay.h>
#include "MPU6050.h" #include "MPU6050.h"
#include "i2c.h" #include "i2c.h"
#include "uart.h"
// Function to initialize MPU-6050 // Function to initialize MPU-6050
void MPU6050_Init() { void MPU6050_Init() {
DEBUG("Initializing MPU6050...");
// Wake up MPU-6050 by writing to PWR_MGMT_1 register // Wake up MPU-6050 by writing to PWR_MGMT_1 register
I2C_start(MPU6050_ADDR << 1 | TW_WRITE); I2C_start(MPU6050_ADDR << 1 | TW_WRITE);
I2C_write(MPU6050_REG_PWR_MGMT_1);
I2C_write(0x00); // Clear sleep mode bit // These two seem to be causing problems
// DEBUG("Sending PWR_MGMT_1 register address");
// I2C_write(MPU6050_REG_PWR_MGMT_1);
// DEBUG("Writing 0x00 to PWR_MGMT_1 register");
// I2C_write(0x00); // Clear sleep mode bit
DEBUG("Stopping I2C communication");
I2C_stop(); I2C_stop();
DEBUG("MPU6050 Initialized!");
} }
// Function to read accelerometer data from MPU-6050 // Function to read accelerometer data from MPU-6050