I am facing a problem of connecting GY-273 HMC5883L to Sparkfun breakout board (MPU6050) via aux I2C.
here is the connection:
after I run the program it shows "i2cWrite failed: 2"
so what happened to it, what can I do to get the data via the same I2C ??
/* Copyright (C) 2014 Kristian Lauszus, TKJ Electronics. All rights reserved.
This software may be distributed and modified under the terms of the GNU
General Public License version 2 (GPL2) as published by the Free Software
Foundation and appearing in the file GPL2.TXT included in the packaging of
this file. Please note that GPL2 Section 2[b] requires that all works based
on this software must also be made publicly available under the terms of
the GPL2 ("Copyleft").
Contact information
-------------------
Kristian Lauszus, TKJ Electronics
Web : http://www.tkjelectronics.com
e-mail : kristianl@tkjelectronics.com
*/
#include <Wire.h>
#include "Kalman.h" // Source: https://github.com/TKJElectronics/KalmanFilter
#define RESTRICT_PITCH // Comment out to restrict roll to ±90deg instead - please read: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf
Kalman kalmanX, kalmanY, kalmanZ; // Create the Kalman instances
const uint8_t MPU6050 = 0x68; // If AD0 is logic low on the PCB the address is 0x68, otherwise set this to 0x69
const uint8_t HMC5883L = 0x1E; // Address of magnetometer
/* IMU Data */
double accX, accY, accZ;
double gyroX, gyroY, gyroZ;
double magX, magY, magZ;
int16_t tempRaw;
double roll, pitch, yaw; // Roll and pitch are calculated using the accelerometer while yaw is calculated using the magnetometer
double gyroXangle, gyroYangle, gyroZangle; // Angle calculate using the gyro only
double compAngleX, compAngleY, compAngleZ; // Calculated angle using a complementary filter
double kalAngleX, kalAngleY, kalAngleZ; // Calculated angle using a Kalman filter
uint32_t timer;
uint8_t i2cData[14]; // Buffer for I2C data
#define MAG0MAX 603
#define MAG0MIN -578
#define MAG1MAX 542
#define MAG1MIN -701
#define MAG2MAX 547
#define MAG2MIN -556
float magOffset[3] = { (MAG0MAX + MAG0MIN) / 2, (MAG1MAX + MAG1MIN) / 2, (MAG2MAX + MAG2MIN) / 2 };
double magGain[3];
void setup() {
delay(100); // Wait for sensors to get ready
Serial.begin(115200);
Wire.begin();
TWBR = ((F_CPU / 400000L) - 16) / 2; // Set I2C frequency to 400kHz
i2cData[0] = 7; // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
i2cData[1] = 0x00; // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
i2cData[2] = 0x00; // Set Gyro Full Scale Range to ±250deg/s
i2cData[3] = 0x00; // Set Accelerometer Full Scale Range to ±2g
while (i2cWrite(MPU6050, 0x19, i2cData, 4, false)); // Write to all four registers at once
while (i2cWrite(MPU6050, 0x6B, 0x01, true)); // PLL with X axis gyroscope reference and disable sleep mode
while (i2cRead(MPU6050, 0x75, i2cData, 1));
if (i2cData[0] != 0x68) { // Read "WHO_AM_I" register
Serial.print(F("Error reading sensor"));
while (1);
}
while (i2cWrite(HMC5883L, 0x02, 0x00, true)); // Configure device for continuous mode
calibrateMag();
delay(100); // Wait for sensors to stabilize
/* Set Kalman and gyro starting angle */
updateMPU6050();
updateHMC5883L();
updatePitchRoll();
updateYaw();
kalmanX.setAngle(roll); // First set roll starting angle
gyroXangle = roll;
compAngleX = roll;
kalmanY.setAngle(pitch); // Then pitch
gyroYangle = pitch;
compAngleY = pitch;
kalmanZ.setAngle(yaw); // And finally yaw
gyroZangle = yaw;
compAngleZ = yaw;
timer = micros(); // Initialize the timer
}