Hi everyone!
I have been trying to read sensor data with my TM4C129 from an MPU6050 but I am having problems with I2C. I only have experience with Arduinos and this is the first time I try to use I2C and CCS so please bear with me if my question is silly. I am having problems with my code which starts looping forever at the first "while(!g_bMPU6050Done)" loop in the function "MPU6050Example" , and this happens also if the I2C pins are not connected at all. I am using 10k pull up resistors, I took my code for the most part from the Tivaware sensor library user's guide, i think i am making a mistake somewhere where I initialize the I2C master instance. I tried to look online and on the forum but I couldnt find anything helpful, can somebody please help?
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>
#include <stdbool.h>
#include "sensorlib/i2cm_drv.h"
#include "sensorlib/hw_mpu6050.h"
#include "sensorlib/mpu6050.h"
#include "inc/hw_ints.h"
#include "inc/hw_memmap.h"
#include "inc/hw_sysctl.h"
#include "inc/hw_types.h"
#include "inc/hw_i2c.h"
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "driverlib/debug.h"
#include "driverlib/interrupt.h"
#include "driverlib/i2c.h"
#include "driverlib/i2c.h"
#include "driverlib/sysctl.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
tI2CMInstance g_sI2CMSimpleInst;
void InitI2C0(void)
{
//enable I2C module 0
SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
//reset module
SysCtlPeripheralReset(SYSCTL_PERIPH_I2C0);
//enable GPIO peripheral that contains I2C 0
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
// Configure the pin muxing for I2C0 functions on port B2 and B3.
GPIOPinConfigure(GPIO_PB2_I2C0SCL);
GPIOPinConfigure(GPIO_PB3_I2C0SDA);
// Select the I2C function for these pins.
GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);
// Enable and initialize the I2C0 master module. Use the system clock for
// the I2C0 module.
// I2C data transfer rate set to 400kbps.
I2CMasterInitExpClk(I2C0_BASE, SysCtlClockGet(), true);
//clear I2C FIFOs
HWREG(I2C0_BASE + I2C_O_FIFOCTL) = 80008000;
// Initialize the I2C master driver.
I2CMInit(&g_sI2CMSimpleInst, I2C0_BASE, INT_I2C0, 0xff, 0xff, 120000000);
}
//
// A boolean that is set when a MPU6050 command has completed.
//
volatile bool g_bMPU6050Done;
//
// The function that is provided by this example as a callback when MPU6050
// transactions have completed.
//
void MPU6050Callback(void *pvCallbackData, uint_fast8_t ui8Status)
{
//
// See if an error occurred.
//
if(ui8Status != I2CM_STATUS_SUCCESS)
{
//
// An error occurred, so handle it here if required.
//
}
//
// Indicate that the MPU6050 transaction has completed.
//
g_bMPU6050Done = true;
}
//
// The MPU6050 example.
//
void MPU6050Example(void)
{
float fAccel[3], fGyro[3];
tI2CMInstance sI2CInst;
tMPU6050 sMPU6050;
//
// Initialize the MPU6050. This code assumes that the I2C master instance
// has already been initialized.
//
g_bMPU6050Done = false;
MPU6050Init(&sMPU6050, &sI2CInst, 0x68, MPU6050Callback, 0);
while(!g_bMPU6050Done)
{
}
//
// Configure the MPU6050 for +/- 4 g accelerometer range.
//
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_ACCEL_CONFIG,
~MPU6050_ACCEL_CONFIG_AFS_SEL_M,
MPU6050_ACCEL_CONFIG_AFS_SEL_4G, MPU6050Callback,0);
while(!g_bMPU6050Done)
{
}
//
// Loop forever reading data from the MPU6050. Typically, this process
// would be done in the background, but for the purposes of this example,
// it is shown in an infinite loop.
//
while(1)
{
//
// Request another reading from the MPU6050.
//
g_bMPU6050Done = false;
MPU6050DataRead(&sMPU6050, MPU6050Callback, 0);
while(!g_bMPU6050Done)
{
}
//
// Get the new accelerometer and gyroscope readings.
//
MPU6050DataAccelGetFloat(&sMPU6050, &fAccel[0], &fAccel[1],
&fAccel[2]);
MPU6050DataGyroGetFloat(&sMPU6050, &fGyro[0], &fGyro[1], &fGyro[2]);
//
// Do something with the new accelerometer and gyroscope readings.
//
}
}
int main()
{
InitI2C0();
MPU6050Example();
return(0);
}
