CCS/TM4C129ENCPDT: Problem acquiring MPU6050 data using the tm4c129e

Sergio Mamani said:

The output ... from the x-axis accelometer (pui32DataRx) ... is always 0

You do not state, "the condition of the device" when such measurement is made.     Is it possible that by aligning that axis - with gravity's pull - your reading will, "shift from zero?"

I've not looked at your code - such, "Quick/Dirty" test (my kind of test) appears an "eased & advantaged method" does it not?

Very often - "helpers here inquire as to the presence of (effective) pull-up resistors" upon each of the 2 I2C signal lines.    Yet - you claim (some) register & ACK success - thus (some) resistor (must) be present...

[edit] Several hours have now passed (since writing the above) and (my workday now over) I note:

"while(I2CMasterBusy(I2C0_BASE))"    Has not this code been replaced - when employing the "129 family?"   I recall a "back to back" read of MCU status - which (proves able)to detect the change of state of the "129's" busy.    I don't use the 129 family - do check this - just in case.    In addition - year or more back - gifted vendor agent Amit Ashara produced a most valuable - I2C based APP Note - which resides (somewhere!)    (to my mind - vendor delights in making the discovery and/or location of such critical documents - difficult!)    I've endlessly protested - vendor responded by "banning LIKE."

Ok, using a logic analizer I was able to replicate in the TM4C , the configuration sequence that the Arduino use to configure the MPU6050 (just setting to 0x00 the PWR_MGMT_1 register), the MPU6050 sent the ACKs and everything is OK with that, from here I thought that the rest would be easy, because I know  how to use the burst sending using I2C, but the problem  comes for reading data.

So again using the logic analyzer I was able to see what is the sequence of data that pass through the I2C bus, here is an image (using arduino):

In first place the master have to write in the I2C bus the register from the xAxis (0x3B), then configurate the master for reading (re-start), and then just read the 16 bytes of data from the xAxis register. I have made the next code in order to write (0x3B) in the I2C bus, then configurate the master for reading, but for some reason, in the second while loop the code gets stuck in the marked line:

    while (1)
    {
        I2CMasterSlaveAddrSet(I2C0_BASE, SLAVE_ADDRESS, false);           //False to write to the MPU6050

        I2CMasterDataPut( I2C0_BASE, 0x3B );                             //Send the register 0x3B
        I2CMasterControl( I2C0_BASE, I2C_MASTER_CMD_SINGLE_SEND );
        while(I2CMasterBusy(I2C0_BASE)) {}                               //HERE THE CODE GETS STUCK IN THE SECOND WHILE LOOP   <------------
        while(!(I2CSlaveStatus(I2C0_BASE) & I2C_SLAVE_ACT_RREQ)) {}
        pui32DataRx[0]=I2CSlaveDataGet(I2C0_BASE);

        I2CMasterSlaveAddrSet(I2C0_BASE, SLAVE_ADDRESS, true);           //True to read from the MPU6050

        I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_START); //Initiate the "burst read" and read the 0x3B register
        while(!(I2CSlaveStatus(I2C0_BASE) & I2C_SLAVE_ACT_TREQ)){};
        data[0]=I2CMasterDataGet(I2C0_BASE);

        I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);  //Read the next register 0x3C
        while(!(I2CSlaveStatus(I2C0_BASE) & I2C_SLAVE_ACT_TREQ)){};
        data[1]=I2CMasterDataGet(I2C0_BASE);

        I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_FINISH); //Finish the "burst read"
        while(!(I2CSlaveStatus(I2C0_BASE) & I2C_SLAVE_ACT_TREQ)){};
    }

Here is the complete code:

#include <stdbool.h>
#include <stdint.h>
#include "inc/hw_i2c.h"
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "driverlib/gpio.h"
#include "driverlib/i2c.h"
#include "driverlib/pin_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/uart.h"
#include "utils/uartstdio.h"

#define NUM_I2C_DATA 3
#define SLAVE_ADDRESS 0x68

uint32_t ui32SysClock;
uint32_t pui32DataTx[NUM_I2C_DATA];
uint32_t pui32DataRx[3];
uint32_t data[4];
uint32_t ejeX;
int end = 0;

int main(void)

{

    ui32SysClock = SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
                                           SYSCTL_OSC_MAIN |
                                           SYSCTL_USE_PLL |
                                           SYSCTL_CFG_VCO_480), 120000000);

    SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);

    GPIOPinConfigure(GPIO_PB2_I2C0SCL);
    GPIOPinConfigure(GPIO_PB3_I2C0SDA);

    GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
    GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);

    I2CMasterInitExpClk(I2C0_BASE, ui32SysClock, false);
//  I2CSlaveEnable(I2C0_BASE);
    I2CSlaveInit(I2C0_BASE, SLAVE_ADDRESS);                          //Set slave address
    I2CMasterSlaveAddrSet(I2C0_BASE, SLAVE_ADDRESS, false);          //False to write

    pui32DataTx[0] = 0x6B;                                           //MPU6050  PWR_MGMT_1 Register
    pui32DataTx[1] = 0x00;                                           //Set to 0x00 the register PWR_MGMT_1

    I2CMasterDataPut( I2C0_BASE, pui32DataTx[0] );                   //Initiate the Burst sending first 0x6B
    I2CMasterControl( I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START );
    while(I2CMasterBusy(I2C0_BASE)) {}
    while(!(I2CSlaveStatus(I2C0_BASE) & I2C_SLAVE_ACT_RREQ)) {}
    pui32DataRx[0]=I2CSlaveDataGet(I2C0_BASE);

    I2CMasterDataPut( I2C0_BASE, pui32DataTx[1] );                  //Then the send the new value of the PWR_MGMT_1 register
    I2CMasterControl( I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_CONT );
    while(I2CMasterBusy(I2C0_BASE)) {}
    while(!(I2CSlaveStatus(I2C0_BASE) & I2C_SLAVE_ACT_RREQ)) {}
    pui32DataRx[1]=I2CSlaveDataGet(I2C0_BASE);

    I2CMasterControl( I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH );//Finish the Burst sending
    while(I2CMasterBusy(I2C0_BASE)) {}
    pui32DataRx[2]=I2CSlaveDataGet(I2C0_BASE);

    while (1)
    {
        I2CMasterSlaveAddrSet(I2C0_BASE, SLAVE_ADDRESS, false);           //False to write to the MPU6050

        I2CMasterDataPut( I2C0_BASE, 0x3B );                             //Send the register 0x3B
        I2CMasterControl( I2C0_BASE, I2C_MASTER_CMD_SINGLE_SEND );
        while(I2CMasterBusy(I2C0_BASE)) {}                               //Here the code gets stuck in the second pass   <------------
        while(!(I2CSlaveStatus(I2C0_BASE) & I2C_SLAVE_ACT_RREQ)) {}
        pui32DataRx[0]=I2CSlaveDataGet(I2C0_BASE);

        I2CMasterSlaveAddrSet(I2C0_BASE, SLAVE_ADDRESS, true);           //True to read from the MPU6050

        I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_START); //Initiate the "burst read" and read the 0x3B register
        while(!(I2CSlaveStatus(I2C0_BASE) & I2C_SLAVE_ACT_TREQ)){};
        data[0]=I2CMasterDataGet(I2C0_BASE);

        I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);  //Read the next register 0x3C
        while(!(I2CSlaveStatus(I2C0_BASE) & I2C_SLAVE_ACT_TREQ)){};
        data[1]=I2CMasterDataGet(I2C0_BASE);

        I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_FINISH); //Finish the "burst read"
        while(!(I2CSlaveStatus(I2C0_BASE) & I2C_SLAVE_ACT_TREQ)){};
    }

}

Thanks in advance

In your initial post you noted that your "X-Axis" data was (always) zero. It was suggested that you "align" that axis w/gravitational field - which should provide an, "escape from zero."

Today you present an "X-Axis solution" - yet never comment upon the X-Axis data - now obtained. That's not (entirely) consistent - is it?

Have you a better means to "generate accelerations" - so that ALL axis performance - may one day - be achieved?

Here is the code to get the raw data of the 3 axis accelerometer that is on the mpu6050 using the tm4c129,the data is the same that is obtained by using the arduino, that use the wire.h library.

#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "inc/hw_ints.h"
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "inc/hw_i2c.h"
#include "driverlib/debug.h"
#include "driverlib/fpu.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/rom.h"
#include "driverlib/sysctl.h"
#include "driverlib/uart.h"
#include "driverlib/i2c.h"
#include "utils/uartstdio.h"

#define SLAVE_ADDRESS           0x68
#define AMBIENT_TEMPERATURE     0x3B
#define DEVICE_ID_REGISTER          0x3B
#define MANUFACTURE_ID_REGISTER     0x07

uint32_t ui32SysClock;
uint32_t ui32SysClock_2;
int a = 0;
uint32_t pui32DataTx[3];
uint32_t pui32DataRx[3];

short * X;
short XYZ[3];

short UpperByte_X = 0;
short LowerByte_X = 0;
short UpperByte_Y = 0;
short LowerByte_Y = 0;
short UpperByte_Z = 0;
short LowerByte_Z = 0;

void I2C_Init()
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
    SysCtlPeripheralReset(SYSCTL_PERIPH_I2C0);

    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);

    GPIOPinConfigure(GPIO_PB2_I2C0SCL);
    GPIOPinConfigure(GPIO_PB3_I2C0SDA);

    GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
    GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);

    I2CMasterInitExpClk(I2C0_BASE,4800000, false);
}

void xAxis_R(uint8_t ambient_temp_reg)
{
  I2CMasterDataPut(I2C0_BASE, ambient_temp_reg);
  I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);
}

short * xAxis()
{
  static short EJES[3];

  I2CMasterSlaveAddrSet(I2C0_BASE, SLAVE_ADDRESS, true);

  I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_START);
  while(I2CMasterBusy(I2C0_BASE));
  UpperByte_X = I2CMasterDataGet(I2C0_BASE);

  I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);
  while(I2CMasterBusy(I2C0_BASE));
  LowerByte_X = I2CMasterDataGet(I2C0_BASE);

  I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);
  while(I2CMasterBusy(I2C0_BASE));
  UpperByte_Y = I2CMasterDataGet(I2C0_BASE);

  I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);
  while(I2CMasterBusy(I2C0_BASE));
  LowerByte_Y = I2CMasterDataGet(I2C0_BASE);

  I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);
  while(I2CMasterBusy(I2C0_BASE));
  UpperByte_Z = I2CMasterDataGet(I2C0_BASE);

  I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_FINISH);
  while(I2CMasterBusy(I2C0_BASE));
  LowerByte_Z = I2CMasterDataGet(I2C0_BASE);

  EJES[0] = UpperByte_X<<8 | LowerByte_X;
  EJES[1] = UpperByte_Y<<8 | LowerByte_Y;
  EJES[2] = UpperByte_Z<<8 | LowerByte_Z;

  SysCtlDelay(250);
  return EJES;

}

int main(void)
{
    ui32SysClock = SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
                                           SYSCTL_OSC_MAIN |
                                           SYSCTL_USE_PLL |
                                           SYSCTL_CFG_VCO_480), 120000000);


    ui32SysClock_2 = SysCtlClockGet();

    I2C_Init();

    SysCtlDelay(500);

    pui32DataTx[0] = 0x6B;                                           //MPU6050  PWR_MGMT_1 Register
    pui32DataTx[1] = 0x00;                                           //Set to 0x00 the register PWR_MGMT_1
    I2CMasterSlaveAddrSet(I2C0_BASE, SLAVE_ADDRESS, false);
    I2CMasterDataPut(I2C0_BASE, pui32DataTx[0] );
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);
    while(I2CMasterBusy(I2C0_BASE)){}
    pui32DataRx[0]=I2CSlaveDataGet(I2C0_BASE);

    I2CMasterDataPut(I2C0_BASE, pui32DataTx[1] );
    I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_CONT);
    while(I2CMasterBusy(I2C0_BASE)){}
    pui32DataRx[1]=I2CSlaveDataGet(I2C0_BASE);

    I2CMasterControl( I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH );//Finish the Burst sending
    while(I2CMasterBusy(I2C0_BASE)) {}
    pui32DataRx[2]=I2CSlaveDataGet(I2C0_BASE);

    SysCtlDelay(500);

    while(1)
    {
        I2CMasterSlaveAddrSet(I2C0_BASE, SLAVE_ADDRESS, false);
        xAxis_R(0x3B);
        while(I2CMasterBusy(I2C0_BASE)){}
        X = xAxis();
        XYZ[0] = X[0];
        XYZ[1] = X[1];
        XYZ[2] = X[2];
     }
}

Hope this can help anyone who needs it

Hi,

Did you noticed there are two files: mpu6050.c, mpu6050.h in Tiva/sensorlib folder, with API functions ready to be used - seems to me some extra work to be done if you follow arduino - you just don't know what version is, and even knowing that, there are differences between internal hardware of micros...

I do not have the link with me know, but there were problems with the mpu6050 library related to the version of the compiler, I have tried them, and I got the compiler error.