MPU6050 and Sony Spresense

tamer_ae

I have an IMU sensor (MPU6050) that works fine on an Arduino mega, but gets me some odd values when I use it with my spresense board. Quite often, I get failed I2C connection error as well. Does it have to do with different clocking frequencies, or is the mpu6050 just not compatible with the spresense board?

jens6151 0 1 1

@tamer_ae Can you please post the code you use and how you connect it?
Do you have an extension board? Do you directly connect to the Spresense Main board?
Spresense SDK? Arduino Library?

A guess would be the level shifters? Noise?
Please provide more information. Otherwise it would be just guessing around.

This project uses the same sensor as you. Have a look at his Github. This is the configuration.

CONFIG_SENSORS_MPU60X0=y
# CONFIG_MPU60X0_SPI is not set
CONFIG_MPU60X0_I2C=y
CONFIG_MPU60X0_I2C_FREQ=400000

jens6151 0 1 1

@jens6151-0-1-1 https://www.hackster.io/dyad/10n2-smart-student-driver-assistant-88787b

tamer_ae

@jens6151-0-1-1 Thank you for your reply
this is the code I am using:

#include <Wire.h>
const int MPU = 0x68; // MPU6050 I2C address
float AccX[2], AccY[2], AccZ[2];
float VelX[2], VelY[2], VelZ[2];
float PosX[2], PosY[2], PosZ[2];
float AccErrorX, AccErrorY, AccErrorZ;

void setup() {
  Serial.begin(115200);
  Wire.begin();                      // Initialize comunication
  Wire.beginTransmission(MPU);       // Start communication with MPU6050 // MPU=0x68
  Wire.write(0x6B);                  // Talk to the register 6B
  Wire.write(0x00);                  // Make reset - place a 0 into the 6B register
  Wire.endTransmission(true);        //end the transmission
  
  // Configure Accelerometer Sensitivity - Full Scale Range (default +/- 2g)
  Wire.beginTransmission(MPU);
  Wire.write(0x1C);                  //Talk to the ACCEL_CONFIG register (1C hex)
  Wire.write(0x10);                  //Set the register bits as 00010000 (+/- 8g full scale range)
  Wire.endTransmission(true);
  // Configure Gyro Sensitivity - Full Scale Range (default +/- 250deg/s)
  Wire.beginTransmission(MPU);
  Wire.write(0x1B);                   // Talk to the GYRO_CONFIG register (1B hex)
  Wire.write(0x10);                   // Set the register bits as 00010000 (1000deg/s full scale)
  Wire.endTransmission(true);
  delay(20);

  // Call this function if you need to get the IMU error values for your module
  //initialise all to zero
  for (int i = 0; i <2; i++){ 
    AccX[i] = 0;
    AccY[i] = 0;
    AccZ[i] = 0;
    VelX[i] = 0;
    VelY[i] = 0;
    VelZ[i] = 0;
    PosX[i] = 0;
    PosY[i] = 0;
    PosZ[i] = 0;
  }
  calculate_IMU_error();

  delay(20);
}
void loop() {
  // === Read acceleromter data === //
  //take rolling average to act as a low pass filter
    Wire.beginTransmission(MPU);
    Wire.write(0x3B);
    Wire.endTransmission(false);
    Wire.requestFrom(MPU, 6, true);
    AccX[1] = ((Wire.read() << 8 | Wire.read()) / 16384.0) ;
    AccY[1] = ((Wire.read() << 8 | Wire.read()) / 16384.0) ;
    AccZ[1] = ((Wire.read() << 8 | Wire.read()) / 16384.0) ;

    AccX[1] = (AccX[1]) - AccErrorX;
    AccY[1] = (AccY[1]) - AccErrorY;
    AccZ[1] = (AccZ[1]) - AccErrorZ;


    
    // Print the values on the serial monitor
    Serial.print(AccX[1]);
    Serial.print(",");
    Serial.print(AccY[1]);
    Serial.print(",");
    Serial.println(AccZ[1]);
}

I am not currently using any library other than the wire.h

Many thanks

tamer_ae

@jens6151-0-1-1 said in MPU6050 and Sony Spresense:

CONFIG_MPU60X0_I2C_FREQ=400000

I cannot seam to find the configuration bit on github. was this also from the project link you provided?

jens6151 0 1 1

@tamer_ae
This is the direct link
https://github.com/ds-dyad/10n2-app/blob/master/sdk.config

This is not my project, so I cannot give details.

I do not know if the speed plays an important role here. I added it to my code. (I interface LSM303)

Wire.setClock(400000);  // 400KHz

On the first glance the code looks good.

I would try out one of the Arduino libraries like this https://github.com/adafruit/Adafruit_MPU6050. Just the given example to check if the hardware connections are good before writing own code.