These values are usually in angles to help us to determine its position. IMU sensors help us get the position of an object attached to the sensor in three-dimensional space. IMU sensors like the MPU 6050 are used in self-balancing robots, UAVs, smartphones, and more. I will also give a short tutorial for interfacing an Arduino with the best IMU sensor available. This actually works, but only in ideal conditions where there are no errors and slave always ACKs.In this post, I will be reviewing a few basic IMU (inertia measurement unit) sensors that are compatible with Arduino. The biggest problem with your code, however, is lack of proper handling of the status register, you are checking TWINT only. It makes no sense to read faster then data can be updated. I'd send NACK + Stop condition at the end of the loop and introduce a delay at least corresponding to selected data rate. And you continuously using repeated Start.

At least in my own MPU6050 library I keep device in sleep after power-up, do all configuration and only then clear SLEEP bit.įinally, in main loop reading you do not send NACK after second byte. I am not 100% sure but I think the initialization can only be done while chip is in sleep mode. This should work, but in the future I recommend using PLL from any one of the gyros, it is more precise.īut you are not done yet, you have to set up full scale range at least for accelerometer (i'd set it for gyros too). I see you setting clock source to internal clock. Hint: you have to wait for data to come back. Note that what you are reading now in main loop is actually full slave address + read bit (0xD0). When you get it right you'd know your reading function is correct (should be 0圆8). You are not using interrupts in the rest of your code.īegin by reading chip ID (6 bits in reg 0x75). But before going any further remove that TWIE bit. You will learn a lot about device by taking it one step at a time. All the i2c function(s) are in accordance with the book 'The Avr microcontroller and the embedded system using assembly and C' by Ali Mazidi'. So can anybody help where is the problem in the code?ġ. I have also checked that the program enters the while loop successfully. I have checked this by putting a Serial.println('a') after that line, but nothing gets printed on the serial monitor. The problem is in the while loop, the program hangs after the i2c_start() call. TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) So I read about I2C protocol, read the datasheet of MPU 6050, register sheet of MPU 6050 and developed a code as per my understanding. I want an embedded c program that's why don't wanna use any external lib. I m trying to read accelerometer values from mpu 6050 in atmega328p (Arduino UNO).

Mpu6050 atmega library