CH32V003 using I2C mpu6050

[jlsilicon]

I am attemptiong to connect to mpu6050 via IC on Ch32v003c8t6.

I have used 6050 in the past successfully on Arduino.
But I am having trouble with it on Ch32 chips.

My version uses Ch32f003 I2C Eeprom as base code.
 https://github.com/cjacker/ch32v003evt_gcc_makefile/blob/main/Examples/I2C/I2C_EEPROM/User/main.c

I used these as 6050 I2C models :
  https://bbs.21ic.com/icview-3129252-1-1.html
  https://www.risc-v1.com/thread-1625-1-1.html

Note that there is old code at beginning converted from - not used now : IIC_ReadByte() , MPU_Read_Byte(), etc.

But it locks up waiting at first I2C write.

Seems to be hooked up right :

Code: [Select]

Ch32v003f4p6:    Mpu6050:
  3V3                ->  Vcc
  Gnd                ->  Gnd
  PC1                ->  SDA
  PC2                ->  SCL


6050 Code :

Code: [Select]

/*

 FAQs :
 - Wrong I2C pins for 003 : PC1=SDA PC2=SCL , not PA1=SDA PA2=SCL

The VCC and GND pins of the CH32V103 development board are connected to the VCC and GND pins of the MPU6050 module.
 PC1 = SDA : The PC1 pin of the CH32V003 development board is connected to the SDA pin of the MPU6050 module
 PC2 = SCL : The PC2 pin of the CH32V003 development board is connected to the SCL pin of the MPU6050 module

//The VCC and GND pins of the CH32V103 development board are connected to the VCC and GND pins of the MPU6050 module.
// PA1 = SDA : The PA1 pin of the CH32V103 development board is connected to the SDA pin of the MPU6050 module
// PA2 = SCL : The PA2 pin of the CH32V103 development board is connected to the SCL pin of the MPU6050 module

Mpu6050 : Id Address = 0x68 wrt , 0x59 rd

 - Compiles Downloads , Returns same data : Temp=175, AX=-11823 , AY=-11823 , AZ=-11823 , GX=-11823 , AGY=-11823 , GZ=-11823

 - TX = PA9
 - RX = PA10

*/

/*
 *@Note
 I2C interface routine to operate EEPROM peripheral:
 I2C1_SCL(PC2)\I2C1_SDA(PC1).
  This example uses EEPROM for AT24Cxx series.
  Steps:
 READ EEPROM:Start + 0xA0 + 8bit Data Address + Start + 0xA1 + Read Data + Stop.
 WRITE EERPOM:Start + 0xA0 + 8bit Data Address + Write Data + Stop.

*/

#include "debug.h"

///


u8   AT24CXX_ReadOneByte(  u16 ReadAddr ) ;
void AT24CXX_WriteOneByte( u16 WriteAddr, u8 DataToWrite ) ;
void AT24CXX_Read(         u16 ReadAddr, u8 *pBuffer, u16 NumToRead ) ;
void AT24CXX_Write(        u16 WriteAddr, u8 *pBuffer, u16 NumToWrite ) ;


///


#ifndef __MPU6050_H
#define __MPU6050_H


// #include "iic.h"
#include "debug.h"


//MPU6050 AD0
/*
#define MPU_AD0_H               GPIO_SetBits(  GPIOA,GPIO_Pin_15)    // SDA
#define MPU_AD0_L               GPIO_ResetBits(GPIOA,GPIO_Pin_15)  // SDA
*/
// 003-c8t6 : - SCL=A6 , SDA=A7 :
#define MPU_AD0_H               GPIO_SetBits(  GPIOC,GPIO_Pin_1)    // SDA
#define MPU_AD0_L               GPIO_ResetBits(GPIOC,GPIO_Pin_1)  // SDA
/*
// 203-c8t6 : - SCL=C2 , SDA=C1 :
#define MPU_AD0_H               GPIO_SetBits(  GPIOC,GPIO_Pin_1)    // SDA
#define MPU_AD0_L               GPIO_ResetBits(GPIOC,GPIO_Pin_1)  // SDA
*/


 #define MPU_ACCEL_OFFS_REG        0X06    //accel_offs
 #define MPU_PROD_ID_REG           0X0C    //prod id

#define MPU_SELF_TESTX_REG      0X0D    //X
#define MPU_SELF_TESTY_REG      0X0E    //Y
#define MPU_SELF_TESTZ_REG      0X0F    //Z
#define MPU_SELF_TESTA_REG      0X10    //A
#define MPU_SAMPLE_RATE_REG     0X19    //
#define MPU_CFG_REG             0X1A    //
#define MPU_GYRO_CFG_REG        0X1B    //
#define MPU_ACCEL_CFG_REG       0X1C    //
#define MPU_MOTION_DET_REG      0X1F    //
#define MPU_FIFO_EN_REG         0X23    //FIFO
#define MPU_I2CMST_CTRL_REG     0X24    //IIC
#define MPU_I2CSLV0_ADDR_REG    0X25    //IIC
#define MPU_I2CSLV0_REG         0X26    //IIC
#define MPU_I2CSLV0_CTRL_REG    0X27    //IIC
#define MPU_I2CSLV1_ADDR_REG    0X28    //IIC
#define MPU_I2CSLV1_REG         0X29    //IIC
#define MPU_I2CSLV1_CTRL_REG    0X2A    //IIC
#define MPU_I2CSLV2_ADDR_REG    0X2B    //IIC2
#define MPU_I2CSLV2_REG         0X2C    //IIC2
#define MPU_I2CSLV2_CTRL_REG    0X2D    //IIC2
#define MPU_I2CSLV3_ADDR_REG    0X2E    //IIC3
#define MPU_I2CSLV3_REG         0X2F    //IIC3
#define MPU_I2CSLV3_CTRL_REG    0X30    //IIC3
#define MPU_I2CSLV4_ADDR_REG    0X31    //IIC4
#define MPU_I2CSLV4_REG         0X32    //IIC4
#define MPU_I2CSLV4_DO_REG      0X33    //IIC4
#define MPU_I2CSLV4_CTRL_REG    0X34    //IIC4
#define MPU_I2CSLV4_DI_REG      0X35    //IIC4

#define MPU_I2CMST_STA_REG      0X36    //IIC
#define MPU_INTBP_CFG_REG       0X37    // /
#define MPU_INT_EN_REG          0X38    //
#define MPU_INT_STA_REG         0X3A    //

#define MPU_ACCEL_XOUTH_REG     0X3B    //X 8
#define MPU_ACCEL_XOUTL_REG     0X3C    //X 8
#define MPU_ACCEL_YOUTH_REG     0X3D    //Y 8
#define MPU_ACCEL_YOUTL_REG     0X3E    //Y 8
#define MPU_ACCEL_ZOUTH_REG     0X3F    //Z 8
#define MPU_ACCEL_ZOUTL_REG     0X40    //Z 8

#define MPU_TEMP_OUTH_REG       0X41    //
#define MPU_TEMP_OUTL_REG       0X42    //8

#define MPU_GYRO_XOUTH_REG      0X43    //X 8
#define MPU_GYRO_XOUTL_REG      0X44    //X 8
#define MPU_GYRO_YOUTH_REG      0X45    //Y 8
#define MPU_GYRO_YOUTL_REG      0X46    //Y 8
#define MPU_GYRO_ZOUTH_REG      0X47    //Z 8
#define MPU_GYRO_ZOUTL_REG      0X48    //Z 8

#define MPU_I2CSLV0_DO_REG      0X63    //IIC0
#define MPU_I2CSLV1_DO_REG      0X64    //IIC1
#define MPU_I2CSLV2_DO_REG      0X65    //IIC2
#define MPU_I2CSLV3_DO_REG      0X66    //IIC3

#define MPU_I2CMST_DELAY_REG    0X67    //IIC
#define MPU_SIGPATH_RST_REG     0X68    //
#define MPU_MDETECT_CTRL_REG    0X69    //
#define MPU_USER_CTRL_REG       0X6A    //
#define MPU_PWR_MGMT1_REG       0X6B    //1
#define MPU_PWR_MGMT2_REG       0X6C    //2
#define MPU_FIFO_CNTH_REG       0X72    //FIFO
#define MPU_FIFO_CNTL_REG       0X73    //FIFO
#define MPU_FIFO_RW_REG         0X74    //FIFO
#define MPU_DEVICE_ID_REG       0X75    //ID

#define MPU_ADDR                0X68

//#define MPU_READ    0XD1

//#define MPU_WRITE   0XD0

u8 MPU_Init(void);                              //MPU6050
u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf);//IIC
u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf); //IIC
u8 MPU_Write_Byte(u8 reg,u8 data);              //IIC
u8 MPU_Read_Byte(u8 reg);                       //IIC

u8 MPU_Set_Gyro_Fsr(u8 fsr);
u8 MPU_Set_Accel_Fsr(u8 fsr);
u8 MPU_Set_LPF(u16 lpf);
u8 MPU_Set_Rate(u16 rate);
u8 MPU_Set_Fifo(u8 sens);

short MPU_Get_Temperature(void);
u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az);


#endif


///

// MPU6050.c //

// #include "mpu6050.h"
/*
#include "debug.h"
*/

//

#ifdef OLD_CODE

/*
void  IIC_Start( u8 Flg )
{
    while( I2C_GetFlagStatus( I2C1, I2C_FLAG_BUSY ) != RESET );
    I2C_GenerateSTART( I2C1, Flg );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) );
}
*/

void  IIC_Start()
{
    while( I2C_GetFlagStatus( I2C1, I2C_FLAG_BUSY ) != RESET );
    I2C_GenerateSTART( I2C1, ENABLE );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) );
}

/*
void  IIC_Stop( u8 Flg )
{
    I2C_GenerateSTOP( I2C1, Flg );
}
*/

void  IIC_Stop()
{
    I2C_GenerateSTOP( I2C1, ENABLE );
}


int  IIC_WaitAck()
{
    while( I2C_GetFlagStatus( I2C1, I2C_FLAG_BUSY ) != RESET ) {}
return 0;
}


void  IIC_SendByte( u8 Dat )
{
    I2C_SendData( I2C1, Dat );
}

u8  IIC_ReadByte( u8 Dat )
{
u8  R ;
    R = I2C_ReceiveData( I2C1 );
return( R );
}

#endif  // - OLD_CODE .


/*

u8 MPU_Init(void)
{
    u8 res;
    GPIO_InitTypeDef  GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);     //AFIO
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);    //IO PORTA

//    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;              //
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;              //
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;        //
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;       //IO 50MHz
    GPIO_Init(GPIOA, &GPIO_InitStructure);                  //GPIOA

    GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE); //JTAG PA15 IO PA15 O!!!

    MPU_AD0_L;                              // MPU6050 AD0 :0X68

    IIC_Init();                             //IIC

    MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); //MPU6050
    Delay_Ms(100);
    MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); //MPU6050
    MPU_Set_Gyro_Fsr(3);                    //2000dps
    MPU_Set_Accel_Fsr(0);                   //2g
    MPU_Set_Rate(50);                       //50Hz
    MPU_Write_Byte(MPU_INT_EN_REG,0X00);    //
    MPU_Write_Byte(MPU_USER_CTRL_REG,0X00); //I2C
    MPU_Write_Byte(MPU_FIFO_EN_REG,0X00);   //FIFO
    MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80); //INT

    res=MPU_Read_Byte(MPU_DEVICE_ID_REG);
    if(res==MPU_ADDR)// ID
    {
        MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); //CLKSEL,PLL X
        MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //
        MPU_Set_Rate(50);                       //50Hz
    }
    else
      return 1;
    return 0;
}

*/

/*

void  IIC_Init(u32 bound, u16 address)
// u8  MPU_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure={0};
    I2C_InitTypeDef  I2C_InitTSturcture={0};

    RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE );
    RCC_APB1PeriphClockCmd( RCC_APB1Periph_I2C1, ENABLE );

    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_2;
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init( GPIOC, &GPIO_InitStructure );

    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init( GPIOC, &GPIO_InitStructure );

    I2C_InitTSturcture.I2C_Mode        = I2C_Mode_I2C;
    I2C_InitTSturcture.I2C_ClockSpeed  = bound;
    I2C_InitTSturcture.I2C_DutyCycle   = I2C_DutyCycle_2;
    I2C_InitTSturcture.I2C_OwnAddress1 = address;
    I2C_InitTSturcture.I2C_Ack         = I2C_Ack_Enable;
    I2C_InitTSturcture.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;

    MPU_AD0_L ;                              // MPU6050 AD0 0X68

    I2C_Init( I2C1, &I2C_InitTSturcture );

    I2C_Cmd( I2C1, ENABLE );
//    IIC_SendByte( ENABLE ) ;  // - ???

//    I2C_AcknowledgeConfig( I2C1, ENABLE );
//    IIC_WaitAck();     // - ???
    while( I2C_GetFlagStatus( I2C1, I2C_FLAG_BUSY ) != RESET ) {} // - ???

    // ??? :

    MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); //MPU6050
    Delay_Ms(100);
    MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); //MPU6050

    MPU_Set_Gyro_Fsr(3);                    //+-2000dps
    MPU_Set_Accel_Fsr(0);                   //+-2g
    MPU_Set_Rate(50);                       //50Hz

    MPU_Write_Byte(MPU_INT_EN_REG,0X00);    //
    MPU_Write_Byte(MPU_USER_CTRL_REG,0X00); //I2C
    MPU_Write_Byte(MPU_FIFO_EN_REG,0X00);   //FIFO
    MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80); //INT

int  res ;
    res = MPU_Read_Byte(MPU_DEVICE_ID_REG);
    if(res == MPU_ADDR)  // ID
    {
        MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); // CLKSEL,PLL X
        MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //
        MPU_Set_Rate(50);                       // 50Hz
    }
//    else
//      return 1;
//    return 0;

}

*/


//fsr:0,250dps;1,500dps;2,1000dps;3,2000dps
u8 MPU_Set_Gyro_Fsr(u8 fsr)
{
// //    return( MPU_Write_Byte(       MPU_GYRO_CFG_REG , fsr << 3 ) );//
            AT24CXX_WriteOneByte( MPU_GYRO_CFG_REG , fsr << 3 )  ;

return( 0 );
}

u8 MPU_Set_Accel_Fsr(u8 fsr)
{
// // return MPU_Write_Byte(       MPU_ACCEL_CFG_REG , fsr << 3 );//
       AT24CXX_WriteOneByte( MPU_ACCEL_CFG_REG , fsr << 3 )  ;

return( 0 );
}


u8 MPU_Set_LPF(u16 lpf)
{
u8 data = 0;

    if(      lpf >= 188 )
        data=1;
    else if( lpf >= 98 )
        data=2;
    else if( lpf >= 42 )
        data=3;
    else if( lpf >= 20 )
        data=4;
    else if( lpf >= 10 )
        data=5;
    else
        data = 6;

// // return( MPU_Write_Byte(       MPU_CFG_REG , data ) );
// return( AT24CXX_WriteOneByte( MPU_CFG_REG , data ) );
    AT24CXX_WriteOneByte( MPU_CFG_REG , data )  ;

return(0);
}


u8 MPU_Set_Rate(u16 rate)
{
u8 data;

    if(rate > 1000)
        rate = 1000;
    if(rate < 4)
        rate = 4;
    data = 1000 / rate - 1 ;

// //    data = MPU_Write_Byte(       MPU_SAMPLE_RATE_REG , data );  //
           AT24CXX_WriteOneByte( MPU_SAMPLE_RATE_REG , data );    //

return MPU_Set_LPF( rate / 2 ); //LPF
}


short MPU_Get_Temperature(void)
{
u8 buf[2];
short raw;
float temp;

// //    MPU_Read_Len( MPU_ADDR , MPU_TEMP_OUTH_REG , 2 , buf );
    AT24CXX_Read(            MPU_TEMP_OUTH_REG , buf , 2 );

    raw  = ((u16)buf[0]<<8) | buf[1];
    temp = 36.53 + ((double)raw) / 340;

return( temp * 100 );
}


u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
{
u8 buf[6],res = 0 ;

// //    res = MPU_Read_Len( MPU_ADDR , MPU_GYRO_XOUTH_REG , 6 , buf );
         AT24CXX_Read(            MPU_GYRO_XOUTH_REG , buf , 6 );

// //    if( res == 0 )
    {
        *gx = ((u16)buf[0]<<8) | buf[1];
        *gy = ((u16)buf[2]<<8) | buf[3];
        *gz = ((u16)buf[4]<<8) | buf[5];
        printf("GYRO : X=%d , Y=%d , Z=%d  \r\n",*gx,*gy,*gz);
    }

return res;;
}


u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az)
{
u8 buf[6] , res = 0 ;

// //    res = MPU_Read_Len( MPU_ADDR , MPU_ACCEL_XOUTH_REG , 6 , buf );
          AT24CXX_Read(            MPU_ACCEL_XOUTH_REG , buf , 6 );

// //    if( res == 0 )
    {
        *ax = ((u16)buf[0]<<8) | buf[1];
        *ay = ((u16)buf[2]<<8) | buf[3];
        *az = ((u16)buf[4]<<8) | buf[5];

        printf("ACC  : X=%d , Y=%d , Z=%d  \r\n", *ax , *ay , *az );
    }

return res;;
}


#ifdef  OLD_CODE

u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf)
{
    u8 i;
    IIC_Start();
    IIC_SendByte((addr<<1)|0);  //
    if( IIC_WaitAck() )           //
    {
        IIC_Stop();
        return 1;
    }

    IIC_SendByte(reg); //
    IIC_WaitAck();     //

    for(i=0;i<len;i++)
    {
        IIC_SendByte(buf[i]);  //
        if( IIC_WaitAck() )      //ACK
        {
            IIC_Stop();
            return 1;
        }
    }
    IIC_Stop();
    return 0;
}

u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf)
{
    IIC_Start();
    IIC_SendByte((addr<<1)|0);//
    if(IIC_WaitAck())  //
    {
        IIC_Stop();
        return 1;
    }
    IIC_SendByte(reg); //
    IIC_WaitAck();     //

    IIC_Start();
    IIC_SendByte((addr<<1)|1);//
    IIC_WaitAck();     //
    while(len)
    {
        if(len==1)
            * buf = IIC_ReadByte(0);//nACK
        else
            * buf = IIC_ReadByte(1);     //ACK
printf( " <%02X> " , * buf );
        len--;
        buf++;
    }
    IIC_Stop(); // STOP
    return 0;
}


u8 MPU_Write_Byte(u8 reg,u8 data)
{
  IIC_Start();
    IIC_SendByte((MPU_ADDR<<1)|0);//
    if(IIC_WaitAck())  //
    {
        IIC_Stop();
return 1;
    }
    IIC_SendByte(reg); //
    IIC_WaitAck();     //

    IIC_SendByte(data);//
    if(IIC_WaitAck())  //ACK
    {
        IIC_Stop();
return 1;
    }
  IIC_Stop();

return 0;
}


u8 MPU_Read_Byte(u8 reg)
{
u8 res;

    IIC_Start();
     IIC_SendByte((MPU_ADDR<<1)|0);//
      IIC_WaitAck();     //
     IIC_SendByte(reg); //
      IIC_WaitAck();     //

    IIC_Start();
     IIC_SendByte((MPU_ADDR<<1)|1);//
      IIC_WaitAck();     //
     res=IIC_ReadByte(0);//nACK

    IIC_Stop();         // STOP

printf( " <%02X> " , res );

return res;
}

#endif  // - OLD_CODE


// int main(void)
// int main_1(void)
int  MPU6050_TEST(void)
{
short aacx,aacy,aacz;       //
short gyrox,gyroy,gyroz;    //
short temp;                 //

/*

        NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
        Delay_Init();
        USART_Printf_Init(115200);
//        MPU_Init();                //MPU6050
//        IIC_Init( 100000, 0xA0 );
        IIC_Init( 100000, 0x68 );
//        IIC_Init( 100000, 0x69 );

        printf("\r\n\r\n: MPU6050 TEST : \r\n\r\n");
        printf("- SystemClk : %d \r\n\r\n\r\n",SystemCoreClock);

*/

        while( 1 )
        {
            temp = MPU_Get_Temperature(); //
            MPU_Get_Accelerometer(&aacx,&aacy,&aacz);   //
            MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);    //

            printf("\r\n Temperature:%d \r\n",temp);

             Delay_Ms(500);

        }
}

///


/**********************************************************************
*@Note:
  AT24Cxx
    READ EEPROM Start + 0xA0 + 8bit Data Address + Start + 0xA1 + Read Data + Stop.
    WRITE EERPOM Start + 0xA0 + 8bit Data Address + Write Data + Stop.
*******************************************************************************/
/* EERPOM DATA ADDRESS Length Definition */
#define Address_8bit  0
#define Address_16bit  1

/* EERPOM DATA ADDRESS Length Selection */
#define Address_Lenth   Address_8bit
//#define Address_Lenth   Address_16bit

/* Global define */
#define SIZE sizeof(TEXT_Buffer)

/* Global Variable */
const u8 TEXT_Buffer[]={"CH32V00x I2C TEST"};

/*********************************************************************
 * @fn      IIC_Init
 * @brief   Initializes the IIC peripheral.
 * @return  none
 */
void IIC_Init(u32 bound, u16 address)
{
printf("> IIC_Init() : bound=%d , address=%02X :\r\n" , bound , address );

    GPIO_InitTypeDef GPIO_InitStructure = {0};
    I2C_InitTypeDef  I2C_InitTSturcture = {0};

    RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE );
    RCC_APB1PeriphClockCmd( RCC_APB1Periph_I2C1, ENABLE );

    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_2;
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init( GPIOC, &GPIO_InitStructure );

    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init( GPIOC, &GPIO_InitStructure );

    I2C_InitTSturcture.I2C_Mode                = I2C_Mode_I2C;
    I2C_InitTSturcture.I2C_OwnAddress1         = address;
    I2C_InitTSturcture.I2C_ClockSpeed          = bound;
    I2C_InitTSturcture.I2C_DutyCycle           = I2C_DutyCycle_2;
    I2C_InitTSturcture.I2C_Ack                 = I2C_Ack_Enable;
    I2C_InitTSturcture.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_Init( I2C1, &I2C_InitTSturcture );

    I2C_Cmd( I2C1, ENABLE );

    I2C_AcknowledgeConfig( I2C1, ENABLE );

printf("< IIC_Init() .\r\n");
}

/*********************************************************************
 * @fn      AT24CXX_Init
 * @brief   Initializes AT24xx EEPROM.
 * @return  none
 */
void AT24CXX_Init(void)
{
    IIC_Init( 100000, 0xA0 );
}

void MPU6050_Init(void)
{
    IIC_Init( 100000, 0x68 );
}


/*********************************************************************
 * @fn      AT24CXX_ReadOneByte
 * @brief   Read one data from EEPROM.
 * @param   ReadAddr - Read first address.
 * @return  temp - Read data.
 */
u8 AT24CXX_ReadOneByte(u16 ReadAddr)
{
    u8 temp=0;

    while( I2C_GetFlagStatus( I2C1, I2C_FLAG_BUSY ) != RESET );
    I2C_GenerateSTART( I2C1, ENABLE );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) );
// //    I2C_Send7bitAddress( I2C1, 0XA0, I2C_Direction_Transmitter );
    I2C_Send7bitAddress( I2C1, 0X68, I2C_Direction_Transmitter );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ) );


    // Send Address 8b / 16b : //

#if (Address_Lenth  == Address_8bit)
    I2C_SendData( I2C1, (u8)(ReadAddr&0x00FF) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

#elif (Address_Lenth  == Address_16bit)
    I2C_SendData( I2C1, (u8)(ReadAddr>>8) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

    I2C_SendData( I2C1, (u8)(ReadAddr&0x00FF) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

#endif


    I2C_GenerateSTART( I2C1, ENABLE );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) );
// //    I2C_Send7bitAddress( I2C1, 0XA0, I2C_Direction_Receiver );
    I2C_Send7bitAddress( I2C1, 0X68, I2C_Direction_Receiver );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED ) );
  while( I2C_GetFlagStatus( I2C1, I2C_FLAG_RXNE ) ==  RESET )
    I2C_AcknowledgeConfig( I2C1, DISABLE );

    temp = I2C_ReceiveData( I2C1 );
  I2C_GenerateSTOP( I2C1, ENABLE );

    return temp;
}


/*********************************************************************
 * @fn      AT24CXX_WriteOneByte
 * @brief   Write one data to EEPROM.
 * @param   WriteAddr - Write frist address.
 * @return  DataToWrite - Write data.
 */
void AT24CXX_WriteOneByte(u16 WriteAddr, u8 DataToWrite)
{
    while( I2C_GetFlagStatus( I2C1, I2C_FLAG_BUSY ) != RESET );
    I2C_GenerateSTART( I2C1, ENABLE );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) );
// //    I2C_Send7bitAddress( I2C1, 0XA0, I2C_Direction_Transmitter );
    I2C_Send7bitAddress( I2C1, 0X68, I2C_Direction_Transmitter );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ) );


    // Send Address 8b / 16b : //

#if (Address_Lenth  == Address_8bit)
    I2C_SendData( I2C1, (u8)(WriteAddr&0x00FF) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

#elif (Address_Lenth  == Address_16bit)
    I2C_SendData( I2C1, (u8)(WriteAddr>>8) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

    I2C_SendData( I2C1, (u8)(WriteAddr&0x00FF) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

#endif


    if( I2C_GetFlagStatus( I2C1, I2C_FLAG_TXE ) !=  RESET )
    {
        I2C_SendData( I2C1, DataToWrite );
    }

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );
    I2C_GenerateSTOP( I2C1, ENABLE );
}


/*********************************************************************
 * @fn      AT24CXX_Read
 * @brief   Read multiple data from EEPROM.
 * @param   ReadAddr - Read frist address. (AT24c02: 0~255)
 *          pBuffer - Read data.
 *          NumToRead - Data number.
 * @return  none
 */
void AT24CXX_Read(u16 ReadAddr, u8 *pBuffer, u16 NumToRead)
{
    while( NumToRead )
    {
        * pBuffer ++ = AT24CXX_ReadOneByte( ReadAddr ++ );
         NumToRead -- ;
    }
}


/*********************************************************************
 * @fn      AT24CXX_Write
 * @brief   Write multiple data to EEPROM.
 * @param   WriteAddr - Write frist address. (AT24c02: 0~255)
 *          pBuffer - Write data.
 *          NumToWrite - Data number.
 * @return  none
 */
void AT24CXX_Write(u16 WriteAddr, u8 *pBuffer, u16 NumToWrite)
{
    while(NumToWrite--)
    {
        AT24CXX_WriteOneByte( WriteAddr , * pBuffer );
         WriteAddr ++ ;
         pBuffer ++ ;
          Delay_Ms(2);
    }
}


// // void MPU6050_Write(u16 WriteAddr, u8 *pBuffer, u16 NumToWrite)
void MPU6050_Write()
{
printf("> MPU6050_Write() : \r\n");

// //     MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); //MPU6050
     AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,0X80); //MPU6050
      Delay_Ms(100);
// //     MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); //MPU6050
     AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,0X00); //MPU6050
//      Delay_Ms(1);

printf("= MPU6050_Write() -> MPU_Set_Gyro_Fsr() \r\n");
// //     MPU_Set_Gyro_Fsr(3);                    //+-2000dps
     AT24CXX_WriteOneByte( MPU_ACCEL_CFG_REG , 3 << 3 )  ;
//      Delay_Ms(1);
printf("= MPU6050_Write() -> MPU_Set_Accel_Fsr() \r\n");
     MPU_Set_Accel_Fsr(0);                   //+-2g
printf("= MPU6050_Write() -> MPU_Set_Rate() \r\n");
     MPU_Set_Rate(50);                       //50Hz

printf("= MPU6050_Write() ... \r\n");

// //     MPU_Write_Byte(MPU_INT_EN_REG,0X00);    //
     AT24CXX_WriteOneByte(MPU_INT_EN_REG,0X00);    //
// //     MPU_Write_Byte(MPU_USER_CTRL_REG,0X00); //I2C
     AT24CXX_WriteOneByte(MPU_USER_CTRL_REG,0X00); //I2C
// //     MPU_Write_Byte(MPU_FIFO_EN_REG,0X00);   //FIFO
     AT24CXX_WriteOneByte(MPU_FIFO_EN_REG,0X00);   //FIFO
// //     MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80); //INT
     AT24CXX_WriteOneByte(MPU_INTBP_CFG_REG,0X80); //INT

// // int  res ;
// //     res = MPU_Read_Byte(MPU_DEVICE_ID_REG);
     AT24CXX_ReadOneByte( MPU_DEVICE_ID_REG );
// //     if( res == MPU_ADDR )  // ID
     {
// //         MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); // CLKSEL,PLL X
         AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,0X01); // CLKSEL,PLL X
// //         MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //
         AT24CXX_WriteOneByte(MPU_PWR_MGMT2_REG,0X00); //

         MPU_Set_Rate(50);                       // 50Hz
     }
 //    else
 //      return 1;
 //    return 0;

printf("< MPU6050_Write() . \r\n");
}


/*********************************************************************
 * @fn      main
 * @brief   Main program.
 * @return  none
 */
int main(void)
{
// u8 data[SIZE];

    Delay_Init();
    USART_Printf_Init(115200);
// //    printf(": eeprom 24Cxx :\r\n");
    printf("\r\n\r\n: MPU6050 003 :\r\n");
     printf("- SystemClk:%d\r\n",SystemCoreClock);

// //    AT24CXX_Init();
    MPU6050_Init();

/*
    printf("Start Write 24Cxx....\r\n");
     AT24CXX_Write(100,(u8*)TEXT_Buffer,SIZE);
    printf("24Cxx Write Success!\r\n");

    Delay_Ms(500);

    printf("Start Read 24Cxx....\r\n");
     AT24CXX_Read(100,data,SIZE);
    printf("The Data Read Is: \r\n");
     printf("%s\r\n", data);
*/

    MPU6050_Write();

    while( 1 )
    {

        printf("> mpu6050 Test ... \r\n");

        MPU6050_TEST();

         Delay_Ms(500);

    }

}

///



If it helps , the Code File and the entire Project is attached :

- Any help would be appreciated !

[jlsilicon]

If this helps - without the old commented code :

Code: [Select]


/*

  Create project as : ch32v003 - f4p6  (- Not 103/203)
  - copy main.c from /EVT/EXAM/.../I2C_mpu6050/User/

 FAQs :
 - Typo used id 0x58 , should be 0x68
 - Wrong I2C pins for 003 : not PA1=SDA PA2=SCL , should be PC1=SDA PC2=SCL

The VCC and GND pins of the CH32V103 development board are connected to the VCC and GND pins of the MPU6050 module.
 PC1 = SDA : The PC1 pin of the CH32V003 development board is connected to the SDA pin of the MPU6050 module
 PC2 = SCL : The PC2 pin of the CH32V003 development board is connected to the SCL pin of the MPU6050 module

//The VCC and GND pins of the CH32V103 development board are connected to the VCC and GND pins of the MPU6050 module.
// PA1 = SDA : The PA1 pin of the CH32V103 development board is connected to the SDA pin of the MPU6050 module
// PA2 = SCL : The PA2 pin of the CH32V103 development board is connected to the SCL pin of the MPU6050 module

Mpu6050 : Id Address = 0x68 wrt , 0x69 rd

 - Compiles Downloads , Returns same data : Temp=175, AX=-11823 , AY=-11823 , AZ=-11823 , GX=-11823 , AGY=-11823 , GZ=-11823

 - TX = PA9
 - RX = PA10

*/

///

#include "debug.h"

//


u8   AT24CXX_ReadOneByte(  u16 ReadAddr ) ;
void AT24CXX_WriteOneByte( u16 WriteAddr, u8 DataToWrite ) ;
void AT24CXX_Read(         u16 ReadAddr, u8 *pBuffer, u16 NumToRead ) ;
void AT24CXX_Write(        u16 WriteAddr, u8 *pBuffer, u16 NumToWrite ) ;


///


#ifndef __MPU6050_H
#define __MPU6050_H


// // #include "iic.h"
// #include "debug.h"


//MPU6050 AD0
/*
#define MPU_AD0_H               GPIO_SetBits(  GPIOA,GPIO_Pin_15)    // SDA
#define MPU_AD0_L               GPIO_ResetBits(GPIOA,GPIO_Pin_15)  // SDA
*/
// 003-c8t6 : - SCL=A6 , SDA=A7 :
#define MPU_AD0_H               GPIO_SetBits(  GPIOC,GPIO_Pin_1)    // SDA
#define MPU_AD0_L               GPIO_ResetBits(GPIOC,GPIO_Pin_1)  // SDA
/*
// 203-c8t6 : - SCL=C2 , SDA=C1 :
#define MPU_AD0_H               GPIO_SetBits(  GPIOC,GPIO_Pin_1)    // SDA
#define MPU_AD0_L               GPIO_ResetBits(GPIOC,GPIO_Pin_1)  // SDA
*/


 #define MPU_ACCEL_OFFS_REG        0X06    //accel_offs
 #define MPU_PROD_ID_REG           0X0C    //prod id

#define MPU_SELF_TESTX_REG      0X0D    //X
#define MPU_SELF_TESTY_REG      0X0E    //Y
#define MPU_SELF_TESTZ_REG      0X0F    //Z
#define MPU_SELF_TESTA_REG      0X10    //A
#define MPU_SAMPLE_RATE_REG     0X19    //
#define MPU_CFG_REG             0X1A    //
#define MPU_GYRO_CFG_REG        0X1B    //
#define MPU_ACCEL_CFG_REG       0X1C    //
#define MPU_MOTION_DET_REG      0X1F    //
#define MPU_FIFO_EN_REG         0X23    //FIFO
#define MPU_I2CMST_CTRL_REG     0X24    //IIC
#define MPU_I2CSLV0_ADDR_REG    0X25    //IIC
#define MPU_I2CSLV0_REG         0X26    //IIC
#define MPU_I2CSLV0_CTRL_REG    0X27    //IIC
#define MPU_I2CSLV1_ADDR_REG    0X28    //IIC
#define MPU_I2CSLV1_REG         0X29    //IIC
#define MPU_I2CSLV1_CTRL_REG    0X2A    //IIC
#define MPU_I2CSLV2_ADDR_REG    0X2B    //IIC2
#define MPU_I2CSLV2_REG         0X2C    //IIC2
#define MPU_I2CSLV2_CTRL_REG    0X2D    //IIC2
#define MPU_I2CSLV3_ADDR_REG    0X2E    //IIC3
#define MPU_I2CSLV3_REG         0X2F    //IIC3
#define MPU_I2CSLV3_CTRL_REG    0X30    //IIC3
#define MPU_I2CSLV4_ADDR_REG    0X31    //IIC4
#define MPU_I2CSLV4_REG         0X32    //IIC4
#define MPU_I2CSLV4_DO_REG      0X33    //IIC4
#define MPU_I2CSLV4_CTRL_REG    0X34    //IIC4
#define MPU_I2CSLV4_DI_REG      0X35    //IIC4

#define MPU_I2CMST_STA_REG      0X36    //IIC
#define MPU_INTBP_CFG_REG       0X37    // /
#define MPU_INT_EN_REG          0X38    //
#define MPU_INT_STA_REG         0X3A    //

#define MPU_ACCEL_XOUTH_REG     0X3B    //X 8
#define MPU_ACCEL_XOUTL_REG     0X3C    //X 8
#define MPU_ACCEL_YOUTH_REG     0X3D    //Y 8
#define MPU_ACCEL_YOUTL_REG     0X3E    //Y 8
#define MPU_ACCEL_ZOUTH_REG     0X3F    //Z 8
#define MPU_ACCEL_ZOUTL_REG     0X40    //Z 8

#define MPU_TEMP_OUTH_REG       0X41    //
#define MPU_TEMP_OUTL_REG       0X42    //8

#define MPU_GYRO_XOUTH_REG      0X43    //X 8
#define MPU_GYRO_XOUTL_REG      0X44    //X 8
#define MPU_GYRO_YOUTH_REG      0X45    //Y 8
#define MPU_GYRO_YOUTL_REG      0X46    //Y 8
#define MPU_GYRO_ZOUTH_REG      0X47    //Z 8
#define MPU_GYRO_ZOUTL_REG      0X48    //Z 8

#define MPU_I2CSLV0_DO_REG      0X63    //IIC0
#define MPU_I2CSLV1_DO_REG      0X64    //IIC1
#define MPU_I2CSLV2_DO_REG      0X65    //IIC2
#define MPU_I2CSLV3_DO_REG      0X66    //IIC3

#define MPU_I2CMST_DELAY_REG    0X67    //IIC
#define MPU_SIGPATH_RST_REG     0X68    //
#define MPU_MDETECT_CTRL_REG    0X69    //
#define MPU_USER_CTRL_REG       0X6A    //
#define MPU_PWR_MGMT1_REG       0X6B    //1
#define MPU_PWR_MGMT2_REG       0X6C    //2
#define MPU_FIFO_CNTH_REG       0X72    //FIFO
#define MPU_FIFO_CNTL_REG       0X73    //FIFO
#define MPU_FIFO_RW_REG         0X74    //FIFO
#define MPU_DEVICE_ID_REG       0X75    //ID

#define MPU_ADDR                0X68

//#define MPU_READ    0XD1

//#define MPU_WRITE   0XD0

u8 MPU_Init(void);                              //MPU6050
u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf);//IIC
u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf); //IIC
u8 MPU_Write_Byte(u8 reg,u8 data);              //IIC
u8 MPU_Read_Byte(u8 reg);                       //IIC

u8 MPU_Set_Gyro_Fsr(u8 fsr);
u8 MPU_Set_Accel_Fsr(u8 fsr);
u8 MPU_Set_LPF(u16 lpf);
u8 MPU_Set_Rate(u16 rate);
u8 MPU_Set_Fifo(u8 sens);

short MPU_Get_Temperature(void);
u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az);


#endif


///


//fsr:0,250dps;1,500dps;2,1000dps;3,2000dps
u8 MPU_Set_Gyro_Fsr(u8 fsr)
{
            AT24CXX_WriteOneByte( MPU_GYRO_CFG_REG , fsr << 3 )  ;
return( 0 );
}

u8 MPU_Set_Accel_Fsr(u8 fsr)
{
       AT24CXX_WriteOneByte( MPU_ACCEL_CFG_REG , fsr << 3 )  ;
return( 0 );
}


u8 MPU_Set_LPF(u16 lpf)
{
u8 data = 0;

    if(      lpf >= 188 )
        data=1;
    else if( lpf >= 98 )
        data=2;
    else if( lpf >= 42 )
        data=3;
    else if( lpf >= 20 )
        data=4;
    else if( lpf >= 10 )
        data=5;
    else
        data = 6;

    AT24CXX_WriteOneByte( MPU_CFG_REG , data )  ;

return(0);
}


u8 MPU_Set_Rate(u16 rate)
{
u8 data;

    if(rate > 1000)
        rate = 1000;
    if(rate < 4)
        rate = 4;
    data = 1000 / rate - 1 ;

           AT24CXX_WriteOneByte( MPU_SAMPLE_RATE_REG , data );    //

return MPU_Set_LPF( rate / 2 ); //LPF
}


short MPU_Get_Temperature(void)
{
u8 buf[2];
short raw;
float temp;

    AT24CXX_Read(            MPU_TEMP_OUTH_REG , buf , 2 );

    raw  = ((u16)buf[0]<<8) | buf[1];
    temp = 36.53 + ((double)raw) / 340;

return( temp * 100 );
}


u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
{
u8 buf[6],res = 0 ;

         AT24CXX_Read(            MPU_GYRO_XOUTH_REG , buf , 6 );

        *gx = ((u16)buf[0]<<8) | buf[1];
        *gy = ((u16)buf[2]<<8) | buf[3];
        *gz = ((u16)buf[4]<<8) | buf[5];
        printf("GYRO : X=%d , Y=%d , Z=%d  \r\n",*gx,*gy,*gz);

return res;;
}


u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az)
{
u8 buf[6] , res = 0 ;

          AT24CXX_Read(            MPU_ACCEL_XOUTH_REG , buf , 6 );

        *ax = ((u16)buf[0]<<8) | buf[1];
        *ay = ((u16)buf[2]<<8) | buf[3];
        *az = ((u16)buf[4]<<8) | buf[5];

        printf("ACC  : X=%d , Y=%d , Z=%d  \r\n", *ax , *ay , *az );

return res;;
}


// int main(void)
// int main_1(void)
int  MPU6050_TEST(void)
{
short aacx,aacy,aacz;       //
short gyrox,gyroy,gyroz;    //
short temp;                 //

        while( 1 )
        {

            temp = MPU_Get_Temperature(); //
            MPU_Get_Accelerometer(&aacx,&aacy,&aacz);   //
            MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);    //

            printf("\r\n Temperature:%d \r\n",temp);

             Delay_Ms(500);

        }
}

///


/**********************************************************************
*@Note:
  AT24Cxx
    READ EEPROM Start + 0xA0 + 8bit Data Address + Start + 0xA1 + Read Data + Stop.
    WRITE EERPOM Start + 0xA0 + 8bit Data Address + Write Data + Stop.
*******************************************************************************/

/* EERPOM DATA ADDRESS Length Definition */
#define Address_8bit  0
#define Address_16bit  1

/* EERPOM DATA ADDRESS Length Selection */
#define Address_Lenth   Address_8bit
//#define Address_Lenth   Address_16bit

/* Global define */
#define SIZE sizeof(TEXT_Buffer)

/* Global Variable */
const u8 TEXT_Buffer[]={"CH32V00x I2C TEST"};


/*********************************************************************
 * @fn      IIC_Init
 * @brief   Initializes the IIC peripheral.
 * @return  none
 */
void IIC_Init(u32 bound, u16 address)
{
printf("> IIC_Init() : bound=%d , address=%02X :\r\n" , bound , address );

    GPIO_InitTypeDef GPIO_InitStructure = {0};
    I2C_InitTypeDef  I2C_InitTSturcture = {0};

    RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE );
    RCC_APB1PeriphClockCmd( RCC_APB1Periph_I2C1, ENABLE );

    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_2;
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init( GPIOC, &GPIO_InitStructure );

    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init( GPIOC, &GPIO_InitStructure );

    I2C_InitTSturcture.I2C_Mode                = I2C_Mode_I2C;
    I2C_InitTSturcture.I2C_OwnAddress1         = address;
    I2C_InitTSturcture.I2C_ClockSpeed          = bound;
    I2C_InitTSturcture.I2C_DutyCycle           = I2C_DutyCycle_2;
    I2C_InitTSturcture.I2C_Ack                 = I2C_Ack_Enable;
    I2C_InitTSturcture.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_Init( I2C1, &I2C_InitTSturcture );

    I2C_Cmd( I2C1, ENABLE );

    I2C_AcknowledgeConfig( I2C1, ENABLE );

printf("< IIC_Init() .\r\n");
}

/*********************************************************************
 * @fn      AT24CXX_Init
 * @brief   Initializes AT24xx EEPROM.
 * @return  none
 */

void MPU6050_Init(void)
{
    IIC_Init( 100000, 0x68 );
}


/*********************************************************************
 * @fn      AT24CXX_ReadOneByte
 * @brief   Read one data from EEPROM.
 * @param   ReadAddr - Read first address.
 * @return  temp - Read data.
 */
u8 AT24CXX_ReadOneByte(u16 ReadAddr)
{
    u8 temp=0;

    while( I2C_GetFlagStatus( I2C1, I2C_FLAG_BUSY ) != RESET );
    I2C_GenerateSTART( I2C1, ENABLE );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) );
    I2C_Send7bitAddress( I2C1, 0X68, I2C_Direction_Transmitter );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ) );


    // Send Address 8b / 16b : //

#if (Address_Lenth  == Address_8bit)
    I2C_SendData( I2C1, (u8)(ReadAddr&0x00FF) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

#elif (Address_Lenth  == Address_16bit)
    I2C_SendData( I2C1, (u8)(ReadAddr>>8) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

    I2C_SendData( I2C1, (u8)(ReadAddr&0x00FF) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

#endif


    I2C_GenerateSTART( I2C1, ENABLE );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) );
    I2C_Send7bitAddress( I2C1, 0X68, I2C_Direction_Receiver );

     while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED ) );
     while( I2C_GetFlagStatus( I2C1, I2C_FLAG_RXNE ) ==  RESET )
    I2C_AcknowledgeConfig( I2C1, DISABLE );

    temp = I2C_ReceiveData( I2C1 );
  I2C_GenerateSTOP( I2C1, ENABLE );

    return temp;
}


/*********************************************************************
 * @fn      AT24CXX_WriteOneByte
 * @brief   Write one data to EEPROM.
 * @param   WriteAddr - Write frist address.
 * @return  DataToWrite - Write data.
 */
void AT24CXX_WriteOneByte(u16 WriteAddr, u8 DataToWrite)
{
    while( I2C_GetFlagStatus( I2C1, I2C_FLAG_BUSY ) != RESET );
    I2C_GenerateSTART( I2C1, ENABLE );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) );
    I2C_Send7bitAddress( I2C1, 0X68, I2C_Direction_Transmitter );

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ) );


    // Send Address 8b / 16b : //

#if (Address_Lenth  == Address_8bit)
    I2C_SendData( I2C1, (u8)(WriteAddr&0x00FF) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

#elif (Address_Lenth  == Address_16bit)
    I2C_SendData( I2C1, (u8)(WriteAddr>>8) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

    I2C_SendData( I2C1, (u8)(WriteAddr&0x00FF) );
    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );

#endif


    if( I2C_GetFlagStatus( I2C1, I2C_FLAG_TXE ) !=  RESET )
    {
        I2C_SendData( I2C1, DataToWrite );
    }

    while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );
    I2C_GenerateSTOP( I2C1, ENABLE );
}


/*********************************************************************
 * @fn      AT24CXX_Read
 * @brief   Read multiple data from EEPROM.
 * @param   ReadAddr - Read frist address. (AT24c02: 0~255)
 *          pBuffer - Read data.
 *          NumToRead - Data number.
 * @return  none
 */
void AT24CXX_Read(u16 ReadAddr, u8 *pBuffer, u16 NumToRead)
{
    while( NumToRead )
    {
        * pBuffer ++ = AT24CXX_ReadOneByte( ReadAddr ++ );
         NumToRead -- ;
    }
}


/*********************************************************************
 * @fn      AT24CXX_Write
 * @brief   Write multiple data to EEPROM.
 * @param   WriteAddr - Write frist address. (AT24c02: 0~255)
 *          pBuffer - Write data.
 *          NumToWrite - Data number.
 * @return  none
 */
void AT24CXX_Write(u16 WriteAddr, u8 *pBuffer, u16 NumToWrite)
{
    while(NumToWrite--)
    {
        AT24CXX_WriteOneByte( WriteAddr , * pBuffer );
         WriteAddr ++ ;
         pBuffer ++ ;
          Delay_Ms(2);
    }
}


// // void MPU6050_Write(u16 WriteAddr, u8 *pBuffer, u16 NumToWrite)
void MPU6050_Write()
{
printf("> MPU6050_Write() : \r\n");

     AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,0X80); //MPU6050
      Delay_Ms(100);

     AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,0X00); //MPU6050

printf("= MPU6050_Write() -> MPU_Set_Gyro_Fsr() \r\n");

     MPU_Set_Gyro_Fsr(3);                    //+-2000dps

     MPU_Set_Accel_Fsr(0);                   //+-2g

     MPU_Set_Rate(50);                       //50Hz

printf("= MPU6050_Write() ... \r\n");

     AT24CXX_WriteOneByte(MPU_INT_EN_REG,0X00);    //

     AT24CXX_WriteOneByte(MPU_USER_CTRL_REG,0X00); //I2C

     AT24CXX_WriteOneByte(MPU_FIFO_EN_REG,0X00);   //FIFO

     AT24CXX_WriteOneByte(MPU_INTBP_CFG_REG,0X80); //INT


     AT24CXX_ReadOneByte( MPU_DEVICE_ID_REG );

         AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,0X01); // CLKSEL,PLL X
         AT24CXX_WriteOneByte(MPU_PWR_MGMT2_REG,0X00); //

         MPU_Set_Rate(50);                       // 50Hz

printf("< MPU6050_Write() . \r\n");
}


/*********************************************************************
 * @fn      main
 * @brief   Main program.
 * @return  none
 */
int main(void)
{

    Delay_Init();
    USART_Printf_Init(115200);
    printf("\r\n\r\n: MPU6050 003 :\r\n");
     printf("- SystemClk:%d\r\n",SystemCoreClock);

    MPU6050_Init();

    Delay_Ms(500);

    ;

    MPU6050_Write();

    Delay_Ms(500);

    while( 1 )
    {

        printf("> mpu6050 Test ... \r\n");

        MPU6050_TEST();

         Delay_Ms(500);

    }

}

///



[jlsilicon]

I added an I2C Bus Scanner.

But it does not see the Mpu6060.
- Is the prolem that :
-- the I2C Bus Scanner code ,
-- or the mpu6050 wiring to Ch32v003f4p6 board ,
--  or does the Board Not support I2C - C1=SDA , C2=SCL ?

This is the Board :
-- Reset -> Reset PD7 pin
-- LED <- PD4



This is the schematic (except mine has a 10pin DIO Header) :
https://taunoerik.art/wp-content/uploads/2023/10/screenshot-from-2023-10-22-08-52-05.png

Code :

Code: [Select]


/*

 */

/*
 *@Note
 *Multiprocessor communication mode routine:
 *Master:USART1_Tx(PD5)\USART1_Rx(PD6).
 *This routine demonstrates that USART1 receives the data sent by CH341 and inverts
 *it and sends it (baud rate 115200).
 *
 *Hardware connection:PD5 -- Rx
 *                     PD6 -- Tx
 *
 */

#include "debug.h"

#include <ch32v00x_i2c.h>
#include <ch32v00x_rcc.h>


/* Global define */


/* Global Variable */
vu8 val;

/*********************************************************************
 * @fn      USARTx_CFG
 *
 * @brief   Initializes the USART2 & USART3 peripheral.
 *
 * @return  none
 */
void USARTx_CFG(void)
{
    GPIO_InitTypeDef  GPIO_InitStructure = {0};
    USART_InitTypeDef USART_InitStructure = {0};

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_USART1, ENABLE);

    /* USART1 TX-->D.5   RX-->D.6 */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_Init(GPIOD, &GPIO_InitStructure);
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_Init(GPIOD, &GPIO_InitStructure);

    USART_InitStructure.USART_BaudRate = 115200;
    USART_InitStructure.USART_WordLength = USART_WordLength_8b;
    USART_InitStructure.USART_StopBits = USART_StopBits_1;
    USART_InitStructure.USART_Parity = USART_Parity_No;
    USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
    USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;

    USART_Init(USART1, &USART_InitStructure);
    USART_Cmd(USART1, ENABLE);
}

//

/*
 *@Note
 7-bit addressing mode, master/slave mode, transceiver routine:
 I2C1_SCL(PC2)\I2C1_SDA(PC1).
  This routine demonstrates that Master sends and Slave receives.
  Note: The two boards download the Master and Slave programs respectively,
   and power on at the same time.
      Hardware connection:
            PC2 -- PC2
            PC1 -- PC1

*/

#include "debug.h"

/* I2C Mode Definition */
#define HOST_MODE   0
#define SLAVE_MODE   1

/* I2C Communication Mode Selection */
#define I2C_MODE   HOST_MODE
//#define I2C_MODE   SLAVE_MODE

/* Global define */
#define Size   6
#define RXAdderss   0x02
#define TxAdderss   0x02

/* Global Variable */
u8 TxData[Size] = { 0x01, 0x02, 0x03, 0x04, 0x05, 0x06 };
u8 RxData[5][Size];


/*********************************************************************
 * @fn      IIC_Init
 * @brief   Initializes the IIC peripheral.
 * @return  none
 */
void IIC_Init(u32 bound, u16 address)
{
    GPIO_InitTypeDef GPIO_InitStructure = {0};
    I2C_InitTypeDef  I2C_InitTSturcture = {0};

    RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE );
    RCC_APB1PeriphClockCmd( RCC_APB1Periph_I2C1, ENABLE );

    /// SDA : ///
    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_2;
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init( GPIOC, &GPIO_InitStructure );

    /// SCL : ///
    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_1;
    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init( GPIOC, &GPIO_InitStructure );

    I2C_InitTSturcture.I2C_Mode        = I2C_Mode_I2C;
    I2C_InitTSturcture.I2C_OwnAddress1 = address;
    I2C_InitTSturcture.I2C_ClockSpeed  = bound;
    I2C_InitTSturcture.I2C_DutyCycle   = I2C_DutyCycle_16_9;
    I2C_InitTSturcture.I2C_Ack         = I2C_Ack_Enable;
    I2C_InitTSturcture.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_Init( I2C1, &I2C_InitTSturcture );

    I2C_Cmd( I2C1, ENABLE );

// #if (I2C_MODE == HOST_MODE)
    I2C_AcknowledgeConfig( I2C1, ENABLE );

// #endif

}

//

/*********************************************************************
 * @fn      main
 * @brief   Main program.
 * @return  none
 */
int main(void)
{
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
    SystemCoreClockUpdate();
    Delay_Init();

    USART_Printf_Init(115200);
     printf("\r\n\r\n: I2C_MPU6050_003_2 : \r\n");
     printf(" SystemClk:%d\r\n",SystemCoreClock);
     printf( "ChipID:%08x\r\n", DBGMCU_GetCHIPID() );

    USARTx_CFG();

    //

// u8  i = 0;
u8  j = 0;
// u8  p = 0;
u8  res ;

// __IO uint32_t  i2creg=0 ;
__IO uint32_t   i2cxbase=0 , i2cxbase1=0 , i2cxbase2=0 ;
  i2cxbase = (uint32_t)I2C1 ;  // = (uint32_t)I2Cx;
//  i2creg = I2C_FLAG >> 28;
//  I2C_FLAG &= FLAG_Mask;
//  if(i2creg != 0)
//  {
//    i2cxbase += 0x18;
    i2cxbase1 = i2cxbase + 0x14;
//  }
//  else
//  {
//    I2C_FLAG = (uint32_t)(I2C_FLAG >> 16);
//    i2cxbase += 0x18;
    i2cxbase2 = i2cxbase + 0x18;
//  }


printf("> main(): IIC mode\r\n");
    IIC_Init( 80000, TxAdderss);

  while( 1 )
  {

printf("= main(): for(0..5) \r\n");
    for( j=0x01; j <= 0x7F ; j++ )
    {
       while( I2C_GetFlagStatus( I2C1, I2C_FLAG_BUSY ) != RESET );

printf("= main(): ->I2C:Start() \r\n");
      I2C_GenerateSTART( I2C1, ENABLE );
       while( ! I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) ) {}

printf("  = main(): ->I2C:SendAdrId() = x%02X \r\n" , j );
//      I2C_Send7bitAddress( I2C1, 0x02, I2C_Direction_Transmitter );
//      I2C_Send7bitAddress( I2C1, 0x68, I2C_Direction_Transmitter );
      I2C_Send7bitAddress( I2C1, j, I2C_Direction_Transmitter );
//        while( ! I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ) ) {}
      res = I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ) ;
printf("    => MTM=%d " , res );
      res = I2C_CheckEvent( I2C1, I2C_Direction_Transmitter ) ;
printf(", DirT=%d " , res );
        Delay_Ms(1);

      res = I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ) ;
printf(", MTM=%d " , res );
//      res = I2C_GetFlagStatus( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) ;
      res = (*(__IO uint32_t *) i2cxbase1);
printf(", St=%d " , res );
      res = (*(__IO uint32_t *) i2cxbase2);
printf("%d " , res );

/*
        while( I2C_GetFlagStatus( I2C1, I2C_FLAG_TXE ) ==  RESET ) {}
            I2C_SendData( I2C1, TxData[i] );
       while( ! I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) )  {}
*/

printf("\r\n= main(): ->I2C:Stop() \r\n");
      I2C_GenerateSTOP( I2C1, ENABLE );
//      res = I2C_GetFlagStatus( I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ) ;
      res = (*(__IO uint32_t *) i2cxbase1);
printf("      , St=%d " , res );
      res = (*(__IO uint32_t *) i2cxbase2);
printf("%d \r\n" , res );

       Delay_Ms(100);
    }

printf("\r\n---\r\n\r\n");
    Delay_Ms(1000);
  }  // - while(1) .

    //

    while( 1 )
    {
        ;
    }

    //

}

///

Also added to my github :
https://github.com/jlsilicon/Ch32v003/blob/main/Ch32v003/I2C_Bus_Scanner/User/main.c

[xvr]

Do you have pull up resistors on I2C bus? I saw no one in schematic.

[jlsilicon]

MPU6050 board HW-123 has built in Pullup resistors.
Yeah thanks, I did check that.

https://europe1.discourse-cdn.com/arduino/optimized/4X/7/4/6/74631f82563988409a5cddf32fdacbfee3e4707f_2_690x403.jpeg

[SiliconWizard]

If you've checked everything else, the likely issue is just the slave address. You're using 0x68, which is the 7-bit address. But I2C functions of the SDK (similar to the STM32 HAL, which WCH has gotten its inspiration from) take an 8-bit address IIRC (so the byte that it will send over I2C). In your case, you'd need to shift the address left by 1 bit, like 0x68 << 1. Haven't used the CH32V003, but try this and let me know.

[jlsilicon]

No, still no result.

//      I2C_Send7bitAddress( I2C1, 0x68, I2C_Direction_Transmitter );
      I2C_Send7bitAddress( I2C1, (0x68>>1), I2C_Direction_Transmitter );

: I2C_MPU6050_003_2 :
 SystemClk:48000000
ChipID:00300500
> main(): IIC mode
= main(): for(0..5)
= main(): ->I2C:Start()
= main(): ->I2C:SendAdrId()

[brucehoult]

Which way is left?

[jlsilicon]

Why shift left if its sent 7bit.
I thought you would shift right : x68 >> 1 => 7bit

oh - ok got it !
You are right that fixed it.
Thx !

Below is the output while twisting the mpu6050 around.
- a little flakey with connection - probably loose wire.

Output :

Code: [Select]



: MPU6050 003 :
- SystemClk:48000000
> IIC_Init() : bound=100000 , address=68 :
< IIC_Init() .
> MPU6050_Write() :
= MPU6050_Write() -> MPU_Set_Gyro_Fsr()
= MPU6050_Write() -> MPU_Set_Accel_Fsr()
= MPU6050_Write() -> MPU_Set_Rate()
= MPU6050_Write() ...
< MPU6050_Write() .
> mpu6050 Test ...


ACC  : X=17228 , Y=-490 , Z=1082
GYRO : X=-363 , Y=-81 , Z=-141

 Temperature:2745
ACC  : X=17336 , Y=-450 , Z=1076
GYRO : X=-385 , Y=-89 , Z=-232

 Temperature:2752
ACC  : X=17652 , Y=-666 , Z=1096
GYRO : X=-953 , Y=-364 , Z=-789

 Temperature:2760
ACC  : X=17196 , Y=-442 , Z=1074
GYRO : X=-334 , Y=-30 , Z=-71

 Temperature:2764
ACC  : X=17170 , Y=2434 , Z=1196
GYRO : X=-788 , Y=-640 , Z=-5729

 Temperature:2766
ACC  : X=15506 , Y=6944 , Z=1336
GYRO : X=-1266 , Y=-315 , Z=-4543

 Temperature:2770
ACC  : X=14536 , Y=8802 , Z=1432
GYRO : X=-326 , Y=53 , Z=-2003


 Temperature:2755
ACC  : X=17648 , Y=-1382 , Z=-2266
GYRO : X=98 , Y=-879 , Z=-431

 Temperature:2765
ACC  : X=17158 , Y=-480 , Z=-4640
GYRO : X=-238 , Y=-2639 , Z=-459

 Temperature:2771
ACC  : X=16138 , Y=-938 , Z=-7282
GYRO : X=537 , Y=-3935 , Z=-489

 Temperature:2773
ACC  : X=13872 , Y=-1016 , Z=-10700
GYRO : X=-203 , Y=-2806 , Z=-1125

 Temperature:2776
ACC  : X=12804 , Y=-118 , Z=-12634
GYRO : X=-376 , Y=-1719 , Z=-1261

 Temperature:2779
ACC  : X=15312 , Y=-880 , Z=-8602
GYRO : X=805 , Y=6467 , Z=1711

 Temperature:2783
ACC  : X=15758 , Y=-3340 , Z=-5560
GYRO : X=-198 , Y=-438 , Z=1705

 Temperature:2785
ACC  : X=16772 , Y=-2438 , Z=-5098
GYRO : X=339 , Y=2083 , Z=1109

 Temperature:2786
ACC  : X=16914 , Y=-3206 , Z=-2504
GYRO : X=-550 , Y=764 , Z=-183

 Temperature:2789
ACC  : X=17258 , Y=-3142 , Z=-3218
GYRO : X=-353 , Y=-206 , Z=-299

 Temperature:2794
ACC  : X=17126 , Y=-2578 , Z=-2918
GYRO : X=-1507 , Y=-640 , Z=-1084

 Temperature:2799
ACC  : X=17176 , Y=736 , Z=-2528
GYRO : X=-971 , Y=-499 , Z=-2939

 Temperature:2802
ACC  : X=17278 , Y=2776 , Z=-2682
GYRO : X=-605 , Y=28 , Z=-1923

 Temperature:2805
ACC  : X=16264 , Y=4588 , Z=-2324
GYRO : X=-404 , Y=-362 , Z=568


 Temperature:2788
ACC  : X=17156 , Y=-2930 , Z=-2542
GYRO : X=-1090 , Y=113 , Z=196


ACC  : X=17554 , Y=-1932 , Z=-2094
GYRO : X=586 , Y=-1509 , Z=2648

 Temperature:2723
ACC  : X=17380 , Y=-1980 , Z=-2290
GYRO : X=-250 , Y=-57 , Z=-1

 Temperature:2733
ACC  : X=17630 , Y=582 , Z=-1344
GYRO : X=919 , Y=555 , Z=-2866

 Temperature:2739
ACC  : X=16100 , Y=4330 , Z=-2050
GYRO : X=-917 , Y=-948 , Z=-4507

 Temperature:2742
ACC  : X=15060 , Y=7624 , Z=-2274
GYRO : X=-931 , Y=-88 , Z=-2531

 Temperature:2745
ACC  : X=14334 , Y=8134 , Z=-2348
GYRO : X=290 , Y=0 , Z=4672


ACC  : X=17540 , Y=1062 , Z=-660
GYRO : X=-725 , Y=169 , Z=-258

 Temperature:2738
ACC  : X=17246 , Y=2284 , Z=-128
GYRO : X=-1049 , Y=-206 , Z=-250

 Temperature:2745
ACC  : X=17560 , Y=1094 , Z=-802
GYRO : X=-190 , Y=-333 , Z=-2371

 Temperature:2752
ACC  : X=15522 , Y=6718 , Z=-1532
GYRO : X=-1233 , Y=-881 , Z=-5025

 Temperature:2758
ACC  : X=12136 , Y=11176 , Z=-1462
GYRO : X=-1309 , Y=-569 , Z=-5168

 Temperature:2762
ACC  : X=9374 , Y=13846 , Z=-1524
GYRO : X=-1167 , Y=-468 , Z=-2788

 Temperature:2764
ACC  : X=9766 , Y=12714 , Z=-2386
GYRO : X=757 , Y=-981 , Z=3324

 Temperature:2769
ACC  : X=14338 , Y=9206 , Z=-3278
GYRO : X=1002 , Y=-456 , Z=2208

 Temperature:2773
ACC  : X=16182 , Y=5124 , Z=-3054
GYRO : X=347 , Y=890 , Z=3239

 Temperature:2774
ACC  : X=17586 , Y=-76 , Z=-1722
GYRO : X=1395 , Y=713 , Z=5533


 Temperature:2792
ACC  : X=16948 , Y=-4276 , Z=-1744
GYRO : X=-36 , Y=-1080 , Z=2626

 Temperature:2796
ACC  : X=14582 , Y=-9724 , Z=-1482
GYRO : X=2475 , Y=-537 , Z=4286

 Temperature:2801
ACC  : X=10942 , Y=-13008 , Z=-558
GYRO : X=1316 , Y=-601 , Z=5066

 Temperature:2805
ACC  : X=8694 , Y=-14914 , Z=-278
GYRO : X=-117 , Y=-88 , Z=293

 Temperature:2809
ACC  : X=6540 , Y=-15778 , Z=314
GYRO : X=589 , Y=-556 , Z=2217

 Temperature:2813
ACC  : X=5366 , Y=-16216 , Z=654
GYRO : X=102 , Y=-407 , Z=720

 Temperature:2817
ACC  : X=7750 , Y=-14754 , Z=-2234
GYRO : X=-6157 , Y=-2149 , Z=-2878

 Temperature:2826
ACC  : X=11744 , Y=-7016 , Z=-11324
GYRO : X=-5323 , Y=-4320 , Z=-3759

 Temperature:2832
ACC  : X=9602 , Y=-2234 , Z=-14698
GYRO : X=-2110 , Y=-5370 , Z=-2714

 Temperature:2835
ACC  : X=3388 , Y=522 , Z=-17144
GYRO : X=-982 , Y=-4714 , Z=-2141

 Temperature:2839
ACC  : X=-594 , Y=1308 , Z=-17222
GYRO : X=-129 , Y=-1672 , Z=-933

 Temperature:2842
ACC  : X=-2078 , Y=1736 , Z=-16932
GYRO : X=-544 , Y=-2213 , Z=-938

 Temperature:2842
ACC  : X=-2782 , Y=1818 , Z=-16780
GYRO : X=-1355 , Y=109 , Z=-115

 Temperature:2846
ACC  : X=-1748 , Y=2996 , Z=-16712
GYRO : X=-679 , Y=1110 , Z=15

 Temperature:2848
ACC  : X=8994 , Y=676 , Z=-14522
GYRO : X=345 , Y=11567 , Z=62

 Temperature:2849
ACC  : X=14846 , Y=292 , Z=-10048
GYRO : X=804 , Y=3665 , Z=-53

 Temperature:2850
ACC  : X=16938 , Y=-108 , Z=-4118
GYRO : X=-2373 , Y=7016 , Z=1027