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Merged
merged 1 commit into from
Sep 15, 2023
Merged

Update mpu6050_i2c.c #1

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12 changes: 10 additions & 2 deletions i2c/mpu6050_i2c/mpu6050_i2c.c
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,16 @@ static int addr = 0x68;
static void mpu6050_reset() {
// Two byte reset. First byte register, second byte data
// There are a load more options to set up the device in different ways that could be added here
uint8_t buf[] = {0x6B, 0x00};
i2c_write_blocking(i2c_default, addr, buf, 2, false);

/* Register: PWR_MGMT_1 (0x6B), Value: 0x80, Action: Reset all internal registers (of MPU6050) to default values */
uint8_t res[] = {0x6B, 0x80};
i2c_write_blocking(i2c_default, addr, res, 2, false);
sleep_ms(200); /* Give the device time to perform the reset */

/* Register: PWR_MGMT_1 (0x6B), Value: 0x00, Action: Take MPU6050 out of sleep mode (which is the default state after reset) */
uint8_t wake[] = {0x6B, 0x00};
i2c_write_blocking(i2c_default, addr, wake, 2, false);
sleep_ms(200); /* Give the device time to get out of the reset */
}

static void mpu6050_read_raw(int16_t accel[3], int16_t gyro[3], int16_t *temp) {
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