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| #include "MPU_IMU_Register_Map.h"
unsigned int raw_data[7];
sbit INT at RB7_bit;
sbit INT_Direction at TRISB7_bit;
int gyro_x_temp, gyro_y_temp, gyro_z_temp, accel_x_temp, accel_y_temp, accel_z_temp, temp_raw;
char i, buff, gyro_x_out[15], gyro_y_out[15], gyro_z_out[15], accel_x_out[15], accel_y_out[15], accel_z_out[15], temp_out[15];
float temp, gyro_x, gyro_y, gyro_z, accel_x, accel_y, accel_z;
void MCU_Init(){
ADPCFG = 0xffff;
TRISBbits.TRISB10 = 1;
TRISBbits.TRISB11 = 0;
Delay_ms(100);
RPINR18bits.U1RXR = 10;
RPOR5bits.RP11R = 3;
INT_Direction = 1;
I2C1_Init(400000);
Delay_ms(100);
Delay_ms(100);
UART1_Init_Advanced(19200, 1, 1, 1);
Delay_ms(600);
UART1_Write_Text("MCU Ready\n");
Delay_ms(100);
}
void MPU_I2C_Write(unsigned char s_addr, unsigned char r_addr, unsigned char len, unsigned char *dat) {
unsigned int i;
I2C1_Start(); // issue I2C start signal
I2C1_Write(s_addr & 0xFE); // send byte via I2C (device address + W(&0xFE))
I2C1_Write(r_addr); // send byte (address of EEPROM location)
for (i = 0 ; i < len ; i++){
I2C1_Write(*dat++); // send data (data to be written)
}
I2C1_Stop(); // issue I2C stop signal
}
void MPU_I2C_Read(unsigned char s_addr, unsigned char r_addr, unsigned char len, unsigned char *dat) {
unsigned int i;
I2C1_Start(); // issue I2C start signal
I2C1_Write(s_addr & 0xFE); // send byte via I2C (device address + W(&0xFE))
I2C1_Write(r_addr); // send byte (data address)
I2C1_Restart(); // issue I2C signal repeated start
I2C1_Write(s_addr | 0x01); // send byte (device address + R(|0x01))
for (i = 0; i < (len-1); i++){
*dat++ = I2C1_Read(_I2C_ACK); // Read the data (acknowledge)
}
*dat = I2C1_Read(_I2C_NACK); // Read the data (NO acknowledge)
I2C1_Stop(); // issue I2C stop signal
}
void MPU_I2C_Read_Int(unsigned char s_addr, unsigned char r_addr, unsigned char len, unsigned char *dat) {
unsigned int i;
unsigned short *pt;
I2C1_Start(); // issue I2C start signal
I2C1_Write(s_addr & 0xFE); // send byte via I2C (device address + W(&0xFE))
I2C1_Write(r_addr); // send byte (data address)
I2C1_Restart(); // issue I2C signal repeated start
I2C1_Write(s_addr | 0x01); // send byte (device address + R(|0x01))
for (i = 0 ; i < ((len << 1)-1) ; i++){
if (i%2) {
pt = pt - 1;
}
else {
pt = dat + i + 1;
}
*pt = I2C1_Read(_I2C_ACK); // Read the data (acknowledge)
}
*(pt - 1) = I2C1_Read(_I2C_NACK); // Read the data (NO acknowledge)
I2C1_Stop(); // issue I2C stop signal
}
void MPU_Init(){
MPU_I2C_Write(mpu_I2C_ADDR, mpu_rm_PWR_MGMT_1 , 1, 0x80);
Delay_ms(100);
MPU_I2C_Write(mpu_I2C_ADDR, mpu_rm_PWR_MGMT_1 , 1, 0x00);
Delay_ms(100);
MPU_I2C_Write(mpu_I2C_ADDR, mpu_rm_FIFO_EN , 1, 0x78);
Delay_ms(100);
MPU_I2C_Write(mpu_I2C_ADDR, mpu_rm_INT_ENABLE , 1, 0x10);
Delay_ms(100);
MPU_I2C_Read (mpu_I2C_ADDR, mpu_rm_ACCEL_CONFIG, 1, &raw_data);
Delay_ms(100);
MPU_I2C_Read (mpu_I2C_ADDR, mpu_rm_INT_ENABLE, 1, &raw_data);
Delay_ms(100);
raw_data[0] |= 0x11;
MPU_I2C_Write(mpu_I2C_ADDR, mpu_rm_INT_ENABLE, 1, &raw_data[0]);
Delay_ms(100);
UART1_Write_Text("MPU6050 Hazir\n");
}
void Extract_Readings() {
accel_x_temp = raw_data[0];
accel_x = (float)accel_x_temp / 2048.0;
accel_y_temp = raw_data[1];
accel_y = (float)accel_y_temp / 2048.0;
accel_z_temp = raw_data[2];
accel_z = (float)accel_z_temp / 2048.0;
//accel_z = (float) accel_z + 2.0; When this line deleted or changed to accel_z = (float) accel_z /2.0, code works well
temp_raw = raw_data[3];
temp = (float)temp_raw / 325.0;
gyro_x_temp = raw_data[4];
gyro_x = (float)gyro_x_temp / 131.0;
gyro_y_temp = raw_data[5];
gyro_y = (float)gyro_y_temp / 131.0;
gyro_z_temp = raw_data[6];
gyro_z = (float)gyro_z_temp / 131.0;
}
void Convert_Readings_To_String() {
FloatToStr(accel_x, accel_x_out);
FloatToStr(accel_y, accel_y_out);
FloatToStr(accel_z, accel_z_out);
FloatToStr(temp, temp_out);
FloatToStr(gyro_x, gyro_x_out);
FloatToStr(gyro_y, gyro_y_out);
FloatToStr(gyro_z, gyro_z_out);
}
void Print_Readings() {
Delay_ms(500);
UART1_Write_Text("\nGyro readings:\n");
UART1_Write(0x0D);
UART1_Write_Text("\nx = \n");
UART1_Write_Text(gyro_x_out);
UART1_Write(0x0D);
UART1_Write_Text("\ny = \n");
UART1_Write_Text(gyro_y_out);
UART1_Write(0x0D);
UART1_Write_Text("\nz = \n");
UART1_Write_Text(gyro_z_out);
UART1_Write(0x0D);
UART1_Write(0x0D);
UART1_Write(0x0D);
UART1_Write_Text("\nAccel readings:\n");
UART1_Write(0x0D);
UART1_Write_Text("\nx = \n");
UART1_Write_Text(accel_x_out);
UART1_Write(0x0D);
UART1_Write_Text("\ny = \n");
UART1_Write_Text(accel_y_out);
UART1_Write(0x0D);
UART1_Write_Text("\nz = \n");
UART1_Write_Text(accel_z_out);
UART1_Write(0x0D);
UART1_Write(0x0D);
UART1_Write(0x0D);
UART1_Write_Text("\nTemperature readings (Celsius) = ");
UART1_Write_Text(temp_out);
UART1_Write(0x0D);
UART1_Write(0x0D);
UART1_Write(0x0D);
Delay_ms(1000);
}
void main() {
MCU_Init();
MPU_Init();
while(1) {
while(INT != 1)
;
MPU_I2C_Read_Int(mpu_I2C_ADDR, mpu_rm_ACCEL_XOUT_H, 7, &raw_data);
Extract_Readings();
Convert_Readings_To_String();
Print_Readings();
}
} |