/* i2c - Simple example
Simple I2C example that shows how to initialize I2C
as well as reading and writing from and to registers for a sensor connected over I2C.
The sensor used in this example is a MPU9250 inertial measurement unit.
For other examples please check:
https://github.com/espressif/esp-idf/tree/master/examples
See README.md file to get detailed usage of this example.
This example code is in the Public Domain (or CC0 licensed, at your option.)
Unless required by applicable law or agreed to in writing, this
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
CONDITIONS OF ANY KIND, either express or implied.
*/
#include <stdio.h>
#define LOG_LOCAL_LEVEL ESP_LOG_VERBOSE
#include "esp_log.h"
#include "driver/i2c.h"
static const char *TAG = "i2c-simple-example";
#define I2C_MASTER_SCL_IO 26 /*!< GPIO number used for I2C master clock */
#define I2C_MASTER_SDA_IO 25 /*!< GPIO number used for I2C master data */
#define I2C_MASTER_NUM 0 /*!< I2C master i2c port number, the number of i2c peripheral interfaces available will depend on the chip */
#define I2C_MASTER_FREQ_HZ 400000 /*!< I2C master clock frequency */
#define I2C_MASTER_TX_BUF_DISABLE 0 /*!< I2C master doesn't need buffer */
#define I2C_MASTER_RX_BUF_DISABLE 0 /*!< I2C master doesn't need buffer */
#define I2C_MASTER_TIMEOUT_MS 1000
#define MPU6050_SENSOR_ADDR 0x68 /*!< Slave address of the MPU9250 sensor */
// Registers:
#define MPU6050_REGISTER_XG_OFFS_TC 0x00
#define MPU6050_REGISTER_YG_OFFS_TC 0x01
#define MPU6050_REGISTER_ZG_OFFS_TC 0x02
#define MPU6050_REGISTER_X_FINE_GAIN 0x03
#define MPU6050_REGISTER_Y_FINE_GAIN 0x04
#define MPU6050_REGISTER_Z_FINE_GAIN 0x05
#define MPU6050_REGISTER_XA_OFFS_H 0x06
#define MPU6050_REGISTER_XA_OFFS_L_TC 0x07
#define MPU6050_REGISTER_YA_OFFS_H 0x08
#define MPU6050_REGISTER_YA_OFFS_L_TC 0x09
#define MPU6050_REGISTER_ZA_OFFS_H 0x0A
#define MPU6050_REGISTER_ZA_OFFS_L_TC 0x0B
#define MPU6050_REGISTER_SELF_TEST_X 0x0D
#define MPU6050_REGISTER_SELF_TEST_Y 0x0E
#define MPU6050_REGISTER_SELF_TEST_Z 0x0F
#define MPU6050_REGISTER_SELF_TEST_A 0x10
#define MPU6050_REGISTER_XG_OFFS_USRH 0x13
#define MPU6050_REGISTER_XG_OFFS_USRL 0x14
#define MPU6050_REGISTER_YG_OFFS_USRH 0x15
#define MPU6050_REGISTER_YG_OFFS_USRL 0x16
#define MPU6050_REGISTER_ZG_OFFS_USRH 0x17
#define MPU6050_REGISTER_ZG_OFFS_USRL 0x18
#define MPU6050_REGISTER_SMPLRT_DIV 0x19
#define MPU6050_REGISTER_CONFIG 0x1A
#define MPU6050_REGISTER_GYRO_CONFIG 0x1B
#define MPU6050_REGISTER_ACCEL_CONFIG 0x1C
#define MPU6050_REGISTER_FF_THR 0x1D
#define MPU6050_REGISTER_FF_DUR 0x1E
#define MPU6050_REGISTER_MOT_THR 0x1F
#define MPU6050_REGISTER_MOT_DUR 0x20
#define MPU6050_REGISTER_ZRMOT_THR 0x21
#define MPU6050_REGISTER_ZRMOT_DUR 0x22
#define MPU6050_REGISTER_FIFO_EN 0x23
#define MPU6050_REGISTER_I2C_MST_CTRL 0x24
#define MPU6050_REGISTER_I2C_SLV0_ADDR 0x25
#define MPU6050_REGISTER_I2C_SLV0_REG 0x26
#define MPU6050_REGISTER_I2C_SLV0_CTRL 0x27
#define MPU6050_REGISTER_I2C_SLV1_ADDR 0x28
#define MPU6050_REGISTER_I2C_SLV1_REG 0x29
#define MPU6050_REGISTER_I2C_SLV1_CTRL 0x2A
#define MPU6050_REGISTER_I2C_SLV2_ADDR 0x2B
#define MPU6050_REGISTER_I2C_SLV2_REG 0x2C
#define MPU6050_REGISTER_I2C_SLV2_CTRL 0x2D
#define MPU6050_REGISTER_I2C_SLV3_ADDR 0x2E
#define MPU6050_REGISTER_I2C_SLV3_REG 0x2F
#define MPU6050_REGISTER_I2C_SLV3_CTRL 0x30
#define MPU6050_REGISTER_I2C_SLV4_ADDR 0x31
#define MPU6050_REGISTER_I2C_SLV4_REG 0x32
#define MPU6050_REGISTER_I2C_SLV4_DO 0x33
#define MPU6050_REGISTER_I2C_SLV4_CTRL 0x34
#define MPU6050_REGISTER_I2C_SLV4_DI 0x35
#define MPU6050_REGISTER_I2C_MST_STATUS 0x36
#define MPU6050_REGISTER_INT_PIN_CFG 0x37
#define MPU6050_REGISTER_INT_ENABLE 0x38
#define MPU6050_REGISTER_DMP_INT_STATUS 0x39
#define MPU6050_REGISTER_INT_STATUS 0x3A
#define MPU6050_REGISTER_ACCEL_XOUT_H 0x3B
#define MPU6050_REGISTER_ACCEL_XOUT_L 0x3C
#define MPU6050_REGISTER_ACCEL_YOUT_H 0x3D
#define MPU6050_REGISTER_ACCEL_YOUT_L 0x3E
#define MPU6050_REGISTER_ACCEL_ZOUT_H 0x3F
#define MPU6050_REGISTER_ACCEL_ZOUT_L 0x40
#define MPU6050_REGISTER_TEMP_OUT_H 0x41
#define MPU6050_REGISTER_TEMP_OUT_L 0x42
#define MPU6050_REGISTER_GYRO_XOUT_H 0x43
#define MPU6050_REGISTER_GYRO_XOUT_L 0x44
#define MPU6050_REGISTER_GYRO_YOUT_H 0x45
#define MPU6050_REGISTER_GYRO_YOUT_L 0x46
#define MPU6050_REGISTER_GYRO_ZOUT_H 0x47
#define MPU6050_REGISTER_GYRO_ZOUT_L 0x48
#define MPU6050_REGISTER_EXT_SENS_DATA_00 0x49
#define MPU6050_REGISTER_EXT_SENS_DATA_01 0x4A
#define MPU6050_REGISTER_EXT_SENS_DATA_02 0x4B
#define MPU6050_REGISTER_EXT_SENS_DATA_03 0x4C
#define MPU6050_REGISTER_EXT_SENS_DATA_04 0x4D
#define MPU6050_REGISTER_EXT_SENS_DATA_05 0x4E
#define MPU6050_REGISTER_EXT_SENS_DATA_06 0x4F
#define MPU6050_REGISTER_EXT_SENS_DATA_07 0x50
#define MPU6050_REGISTER_EXT_SENS_DATA_08 0x51
#define MPU6050_REGISTER_EXT_SENS_DATA_09 0x52
#define MPU6050_REGISTER_EXT_SENS_DATA_10 0x53
#define MPU6050_REGISTER_EXT_SENS_DATA_11 0x54
#define MPU6050_REGISTER_EXT_SENS_DATA_12 0x55
#define MPU6050_REGISTER_EXT_SENS_DATA_13 0x56
#define MPU6050_REGISTER_EXT_SENS_DATA_14 0x57
#define MPU6050_REGISTER_EXT_SENS_DATA_15 0x58
#define MPU6050_REGISTER_EXT_SENS_DATA_16 0x59
#define MPU6050_REGISTER_EXT_SENS_DATA_17 0x5A
#define MPU6050_REGISTER_EXT_SENS_DATA_18 0x5B
#define MPU6050_REGISTER_EXT_SENS_DATA_19 0x5C
#define MPU6050_REGISTER_EXT_SENS_DATA_20 0x5D
#define MPU6050_REGISTER_EXT_SENS_DATA_21 0x5E
#define MPU6050_REGISTER_EXT_SENS_DATA_22 0x5F
#define MPU6050_REGISTER_EXT_SENS_DATA_23 0x60
#define MPU6050_REGISTER_MOT_DETECT_STATUS 0x61
#define MPU6050_REGISTER_I2C_SLV0_DO 0x63
#define MPU6050_REGISTER_I2C_SLV1_DO 0x64
#define MPU6050_REGISTER_I2C_SLV2_DO 0x65
#define MPU6050_REGISTER_I2C_SLV3_DO 0x66
#define MPU6050_REGISTER_I2C_MST_DELAY_CTRL 0x67
#define MPU6050_REGISTER_SIGNAL_PATH_RESET 0x68
#define MPU6050_REGISTER_MOT_DETECT_CTRL 0x69
#define MPU6050_REGISTER_USER_CTRL 0x6A
#define MPU6050_REGISTER_PWR_MGMT_1 0x6B
#define MPU6050_REGISTER_PWR_MGMT_2 0x6C
#define MPU6050_REGISTER_BANK_SEL 0x6D
#define MPU6050_REGISTER_MEM_START_ADDR 0x6E
#define MPU6050_REGISTER_MEM_R_W 0x6F
#define MPU6050_REGISTER_DMP_CFG_1 0x70
#define MPU6050_REGISTER_DMP_CFG_2 0x71
#define MPU6050_REGISTER_FIFO_COUNTH 0x72
#define MPU6050_REGISTER_FIFO_COUNTL 0x73
#define MPU6050_REGISTER_FIFO_R_W 0x74
#define MPU6050_REGISTER_WHO_AM_I 0x75
#define MPU9250_PWR_MGMT_1_REG_ADDR 0x6B /*!< Register addresses of the power managment register */
#define MPU9250_RESET_BIT 7
/**
* @brief Read a sequence of bytes from a MPU9250 sensor registers
*/
static esp_err_t mpu9250_register_read(uint8_t reg_addr, uint8_t *data, size_t len)
{
return i2c_master_write_read_device(I2C_MASTER_NUM, MPU6050_SENSOR_ADDR, ®_addr, 1, data, len, I2C_MASTER_TIMEOUT_MS / portTICK_RATE_MS);
}
/**
* @brief Write a byte to a MPU9250 sensor register
*/
static esp_err_t mpu9250_register_write_byte(uint8_t reg_addr, uint8_t data)
{
int ret;
uint8_t write_buf[2] = {reg_addr, data};
ret = i2c_master_write_to_device(I2C_MASTER_NUM, MPU6050_SENSOR_ADDR, write_buf, sizeof(write_buf), I2C_MASTER_TIMEOUT_MS / portTICK_RATE_MS);
return ret;
}
/**
* @brief i2c master initialization
*/
static esp_err_t i2c_master_init(void)
{
int i2c_master_port = I2C_MASTER_NUM;
i2c_config_t conf;
conf.mode = I2C_MODE_MASTER;
conf.sda_io_num = I2C_MASTER_SDA_IO;
conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
conf.scl_io_num = I2C_MASTER_SCL_IO;
conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
conf.clk_flags = 0;
conf.master.clk_speed = I2C_MASTER_FREQ_HZ;
i2c_param_config(i2c_master_port, &conf);
return i2c_driver_install(i2c_master_port, conf.mode, I2C_MASTER_RX_BUF_DISABLE, I2C_MASTER_TX_BUF_DISABLE, 0);
}
extern "C" void app_main()
{
uint8_t data[2];
ESP_ERROR_CHECK(i2c_master_init());
printf("I2C initialized successfully\n");
/* Read the MPU9250 WHO_AM_I register, on power up the register should have the value 0x71 */
//ESP_ERROR_CHECK(mpu9250_register_read(MPU6050_REGISTER_WHO_AM_I, data, 1));
//printf("WHO_AM_I = %X\n", data[0]);
// ESP_ERROR_CHECK(mpu9250_register_read(MPU6050_REGISTER_ACCEL_XOUT_H, data, 2));
// printf("ACCEL_X = %X\n", (((int16_t)data[0]) << 8) | data[1]);
ESP_ERROR_CHECK(mpu9250_register_read(MPU6050_REGISTER_PWR_MGMT_1, data, 1));
printf("PWR_MGMT = %X\n", data[0]);
ESP_ERROR_CHECK(mpu9250_register_read(MPU6050_REGISTER_PWR_MGMT_1, data, 1));
printf("PWR_MGMT = %X\n", data[0]);
/* Demonstrate writing by reseting the MPU9250 */
//ESP_ERROR_CHECK(mpu9250_register_write_byte(MPU9250_PWR_MGMT_1_REG_ADDR, 1 << MPU9250_RESET_BIT));
ESP_ERROR_CHECK(i2c_driver_delete(I2C_MASTER_NUM));
printf("I2C de-initialized successfully\n");
}