java - Arduino MPU6050 Sensor Not Working with Code from Arduino's Website -
i keep getting following in serial monitor on , over: acx = -1 | acy = -1 | acz = -1 | tmp = 36.53 | gyx = -1 | gyy = -1 | gyz = -1
i using following code got off http://playground.arduino.cc/main/mpu-6050#sketch:
// mpu-6050 short example sketch // arduino user johnchi // august 17, 2014 // public domain #include<wire.h> const int mpu=0x68; // i2c address of mpu-6050 int16_t acx,acy,acz,tmp,gyx,gyy,gyz; void setup(){ wire.begin(); wire.begintransmission(mpu); wire.write(0x6b); // pwr_mgmt_1 register wire.write(0); // set 0 (wakes mpu-6050) wire.endtransmission(true); serial.begin(9600); } void loop(){ wire.begintransmission(mpu); wire.write(0x3b); // starting register 0x3b (accel_xout_h) wire.endtransmission(false); wire.requestfrom(mpu,14,true); // request total of 14 registers acx=wire.read()<<8|wire.read(); // 0x3b (accel_xout_h) & 0x3c (accel_xout_l) acy=wire.read()<<8|wire.read(); // 0x3d (accel_yout_h) & 0x3e (accel_yout_l) acz=wire.read()<<8|wire.read(); // 0x3f (accel_zout_h) & 0x40 (accel_zout_l) tmp=wire.read()<<8|wire.read(); // 0x41 (temp_out_h) & 0x42 (temp_out_l) gyx=wire.read()<<8|wire.read(); // 0x43 (gyro_xout_h) & 0x44 (gyro_xout_l) gyy=wire.read()<<8|wire.read(); // 0x45 (gyro_yout_h) & 0x46 (gyro_yout_l) gyz=wire.read()<<8|wire.read(); // 0x47 (gyro_zout_h) & 0x48 (gyro_zout_l) serial.print("acx = "); serial.print(acx); serial.print(" | acy = "); serial.print(acy); serial.print(" | acz = "); serial.print(acz); serial.print(" | tmp = "); serial.print(tmp/340.00+36.53); //equation temperature in degrees c datasheet serial.print(" | gyx = "); serial.print(gyx); serial.print(" | gyy = "); serial.print(gyy); serial.print(" | gyz = "); serial.println(gyz); delay(333); } this wiring using: http://jamesmpoe.com/roboticswiki/images/4/45/mpu6050-arduino-uno-connections.jpg
i not know wrong.
thank help.
first of all, i'd set clock x gyroscope oscillator instead of internal oscillator (as suggested on mpu6050 datasheet), hence
wire.begintransmission(mpu); wire.write(0x6b); // pwr_mgmt_1 register wire.write(1); // set 1 turn on xgyro oscillator wire.endtransmission(true); in project, however, wrote lot more initializations... suggest to
- write functions write/read bit(s), byte(s) , word(s) on i2c interface, because you'll need them
- write functions , set important parts of registers in mpu6050
- write more complex functions.
examples:
// i2c interface bool i2c_writebytes(uint8_t devaddr, uint8_t regaddr, uint8_t length, uint8_t* data) { wire.begintransmission(devaddr); wire.write((uint8_t) regaddr); // send address (uint8_t = 0; < length; i++) { wire.write((uint8_t) data[i]); } return (wire.endtransmission() == 0); } // simple function int16_t mpu6050_getaccelerationx() { i2c_readbytes(mpu6050_address, mpu6050_ra_accel_xout_h, 2, rwbuffer); return (((int16_t)rwbuffer[0]) << 8) | rwbuffer[1]; } // complex function void mpu6050_initialize() { mpu6050_reset(); delay(100); mpu6050_setclocksource(mpu6050_clock_pll_xgyro); mpu6050_setsleepenabled(false); mpu6050_setwakecycleenabled(false); mpu6050_switchspienabled(false); mpu6050_seti2cmastermodeenabled(false); mpu6050_setfifoenabled(false); delay(100); mpu6050_setrate(7); // 1khz scan freq mpu6050_setdlpfmode(mpu6050_dlpf_bw_256); mpu6050_setfullscalegyrorange(mpu6050_gyro_fs_250); mpu6050_setfullscaleaccelrange(mpu6050_accel_fs_2); mpu6050_setinterruptmode(mpu6050_intmode_activehigh); mpu6050_setinterruptdrive(mpu6050_intdrv_pushpull); mpu6050_setinterruptlatch(mpu6050_intlatch_waitclear); mpu6050_setinterruptlatchclear(mpu6050_intclear_anyread); mpu6050_setfsyncinterruptenabled(0); mpu6050_seti2cbypassenabled(0); mpu6050_setclockoutputenabled(0); mpu6050_setintenabled(mpu6050_interrupt_mask_data_rdy_bit); // interrupt when data ready } a useful resource mpu6050 registers map (you can find here).
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