MPU6050_Write(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 1 I2C_ DR address is 0x40005410Īs mentioned before, 14 bytes will be read from MPU6050, so DMA_Buffersize here should be 14 bytes.Īfter finishing the configuration parts, we move to the reading part. Again, Stdperiph driver V3.5.0 of ST was used here for basic I2C peripheral functions: void MPU6050_Initialize(void) First, let’s have a look at the initialized routine for MPU6050. So, I tried to edit the code of Harinadha to implement both INT triggering and DMA reading from I2C with some fine tunes to give the best processing time. Then I tried to look back at the code for Arduino and they actually used the INT pin of MPU6050 to trigger the reading routine. Moreover, I noticed that the code took lots of time to read 14 bytes of data (including 6 bytes acceleration, 2 bytes of temperature, and 6 bytes of the gyro), nearly 2ms, so there is no chance to get the sample rate at 1ms. So, I got the wrong gyro angle all the time. I also used this library for the first time and found it was quite difficult to get the most updated gyro data for calculation. Harinadha has done the porting job from MPU6050 Arduino library of Jeff Rowberg to STM32 here as well: without using INT pin (interrupt pin) of MPU6050. There are a lot of libraries for Arduino that are available on the internet for connecting with MPU6050 and a few libraries for STM32. MPU6050 is a very popular MEMS acceleration and gyroscope sensor and other devices can connect and get data from it through an I2C connection. Besides, a comparison to show the timing difference between using and not using DMA is also mentioned.

Now, I will show another example with DMA and I2C to read raw data from MPU6050 acceleration and gyroscope sensor directly. In the previous post, an example of using STM32 DMA to perform a simple data copy between 2 arrays was introduced. The code, however, is outdated and for reference only. Nevertheless, the explanation in this post is still valid and useful to briefly layout how DMA in STM32 actually works. The newer STM32CubeMX and STM32CubeIDE support DMA setup much quicker and easier.

Update 11/2021: this was posted in 2014 using the old STM32 stdlib, which might be tedious to setup and get it working.

Msp432p401r wire library