Using Arduino to Simulate MPU-6050

Other Hardware Sensors
1

Hi,

I'm trying to replace the InvenSense MPU-6050 sensor on an existing board with an Arduino Mega 2560, in order to simulate the outputs of the sensor artificially. I have desoldered the MPU, and set up the Arduino as a slave with the same address as the MPU (0x68) on the I2C bus.

First I need to figure out which data does the host MCU ask for, so I uploaded this code to the Arduino to echo the I2C data in the serial monitor:

#include <Wire.h>

void setup() {
  Wire.begin(0x68);
  Wire.onReceive(receiveEvent);
  Wire.onRequest(requestEvent);
  Serial.begin(9600);           // start serial for output
}   

void loop() {

}


void receiveEvent(int howMany) {
  Serial.println("Receive Event");
  while (1 < Wire.available()) { // loop through all but the last
    char c = Wire.read(); // receive byte as a character
    Serial.print(c);         // print the character
  }
  int x = Wire.read();    // receive byte as an integer
  Serial.println(x);         // print the integer
}

void requestEvent(){
  Serial.println("Request Event");
}

When I run the code, it gets stuck in the requestEvent() function, which means that the host MCU keeps asking for some data without writing anything first. As far as I know, the address of the desired register needs to be written first. Does the MPU send anything upon startup?

Thanks

2

Never use the Serial object in an interrupt handler as you might lock the Arduino in interrupt waits.
The I2C is clocked at 100kHz so a 9600 serial line is by far not fast enough to transfer the data you might get.