MPU6050 with an lm4f120xl

Hi!

I'm new here, and my English is poor, so sorry for bad language.

I have an lm4f120xl launchpad and an MPU6050 breakout board.

The I2C communication is working fine, i can read and write registers.

I use the TivaWare_C_Series-2.1.0.12573 with Rowley Crossworks for ARM.

The Stellarisware doesn't have sensorlib, therefore i set target processor to tm4c1233h6pm.

This is my code...

//**************************************************
// globals
//
  INT8U addr = 0;
  
  //
  // A boolean that is set when a MPU6050 command has completed.
  //
  volatile bool g_bMPU6050Done;

  tI2CMInstance sI2CInst;
  tMPU6050 sMPU6050;
//**************************************************

//
// 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.
  //
//    debug_printf("%d\n",ui8Status);
  }
  //
  // Indicate that the MPU6050 transaction has completed.
  //
  if(ui8Status == I2CM_STATUS_SUCCESS)
  {
    g_bMPU6050Done = true;
  }
}

void I2C3_IRQHandler()
{
  I2CMIntHandler(&sI2CInst);
}

void 
new_task_code(void *p)
{  
  INT32U speed = SysCtlClockGet();
  
  I2CSetup(I2C3_BASE, true);
  addr = I2CBusScan(I2C3_BASE);

  unsigned long ret;

  INT8U dataH[2], dataL[2];
  float *pfAccel, *pfGyro;
  

  //
  // Enable interrupts to the processor.
  //
  IntMasterEnable();  
  I2CMInit(&sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff, SysCtlClockGet());

  //
  // Initialize the MPU6050. This code assumes that the I2C master instance
  // has already been initialized.
  //
  g_bMPU6050Done = false;
  MPU6050Init(&sMPU6050, &sI2CInst, addr, MPU6050Callback, &sMPU6050);
  while(!g_bMPU6050Done)
  {
  }

// Disable sleep mode
  MPU6050Write(&sMPU6050, MPU6050_O_PWR_MGMT_1, 0 , 1, MPU6050Callback, &sMPU6050);
  while(!g_bMPU6050Done)
  {
  }


  while (1)
    {      
      // task logic goes here      
      g_bMPU6050Done = false;
      MPU6050DataRead(&sMPU6050, MPU6050Callback, &sMPU6050);
      while(!g_bMPU6050Done)
      {
      }
      //
      // Get the new accelerometer and gyroscope readings.
      //
      MPU6050DataAccelGetFloat(&sMPU6050, pfAccel, pfAccel + 1, pfAccel + 2);
      MPU6050DataGyroGetFloat(&sMPU6050, pfGyro, pfGyro + 1, pfGyro + 2);

ret = I2CReadData(I2C3_BASE, addr,
		MPU6050_O_GYRO_XOUT_H, dataH, 2);
ret = I2CReadData(I2C3_BASE, addr,
		MPU6050_O_GYRO_XOUT_L, dataL, 2);
ret = I2CReadData(I2C3_BASE, addr,
		MPU6050_O_ACCEL_XOUT_H, dataH, 2);
ret = I2CReadData(I2C3_BASE, addr,
		MPU6050_O_ACCEL_XOUT_L, dataL, 2);
    }  
}

This code initialize a I2C periph and an mpu6050 instance. I2C interrupts are coming. The processor run at 50MHz.

The code is working, but it give me not correct results.

I think,in the pfAccel i get the gyro data, and the pfGyro contains zeros all the time.

pfAccel can be -10.xxx, -9.xxx, ... - ...+9.xxx, +10.xxx at the x,y and z axis, if i move, rotate the breakout board.

What i miss?

Thank You for help, best Regards!