Hi all,
Below is my code to display some simple values from my MPU6050, the code has worked in the past and has recently been playing up. When I run the code now it only returns 0's for all values apart from the temperature which is 36.53 oC.
Any ideas as to why I would get lots of 0's? Thanks.
#include "I2Cdev.h"
#include "MPU6050.h"
#include "Wire.h"
const int MPU_addr=0x68; // I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
float angleY;
float angleX;
float gyroY;
float gyroX;
MPU6050 mpu;
// Offset Values: XA YA ZA XG YG ZG
int MPUOffsets[6] = { -1730, 1710, 1326, 75, -18, 21};
void setup(){
Wire.begin();
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
mpu.setXAccelOffset(MPUOffsets[0]);
mpu.setYAccelOffset(MPUOffsets[1]);
mpu.setZAccelOffset(MPUOffsets[2]);
mpu.setXGyroOffset(MPUOffsets[3]);
mpu.setYGyroOffset(MPUOffsets[4]);
mpu.setZGyroOffset(MPUOffsets[5]);
mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
/*
AFS_SEL | Full Scale Range | LSB Sensitivity | Accelerometer Set up
0 | ±2g | 16384 LSB/g |
1 | ±4g | 8192 LSB/g |
2 | ±8g | 4096 LSB/g |
3 | ±16g | 2084 LSB/g |
FS_SEL | Full Scale Range | LSB Sensitivity | Gyro Setup (Leave at default value FS_SEL=0)
0 | ±250 deg/s | 131 LSB/deg/s |
1 | ±500 deg/s | 65.5 LSB/deg/s |
*/
Wire.endTransmission(true);
Serial.begin(9600);
}
void loop(){
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
angleY = atan2(AcY, AcZ)*4068/71;
angleX = atan2(AcX, AcZ)*4068/71;
gyroY = GyY/131;
gyroX = GyX/131;
Serial.print("AcX = "); Serial.print(AcX);
Serial.print(" | AcY = "); Serial.print(AcY);
Serial.print(" | AcZ = "); Serial.print(AcZ);
Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet
Serial.print(" | GyX = "); Serial.print(GyX);
Serial.print(" | GyY = "); Serial.print(GyY);
Serial.print(" | GyZ = "); Serial.print(GyZ);
Serial.print(" | pitch = "); Serial.print(angleY);
Serial.print(" | roll = "); Serial.println(angleX);
delay(333);
}