I2C Haberleşmesini sağladım, peki bu da nesi?

[Cemre.]

Herkese iyi akşamlar. Belki denk geleniniz olmuştur. Neredeyse iki haftadır elimdeki donanımla I2C haberleşmesi sağlamaya çalışıyorum. Bu süreçte forumu bayağı bir kirlettim, açtığım üç konunun linki aşağıda. Bugün sonuç aldım yaptığım çalışmadan ancak anormal giden birşeyler var.
Programın ana akışı mikroC'nin kendi yayımladığı örnekten yardım alınarak hazırlandı, çalışmama ihtimali olmadığını düşündüğüm için böyle bir yola başvurdum. Aşağıda kodlarım.

Şuanki sorunum ise, haberleşme başlıyor, init fonksiyonlarımı çalıştırıyorum, modülü uyandırıp gerekli ayarlamaları yapıyorum ve sürekli Arduino USB-Seri dönüştürücü vasıtası ile PC'ye aktarıyorum. Buraya kadar sorunsuz gözüküyor. Bu arada check_device fonksiyonunu ilk çağırdığımda "Device is not found" ve "I2C bus is FREE" dönüyor, hemen arkasından ikinci çağırdığımda Device is OK! dönüyor. Bunun sebebi ne olabilir?

İkinci sorun ise verileri almaya başladıktan sonra, döngü bazen 3 kez bazen 10 kez hatasız dönüyor, terminalde istediğim değerleri görüyorum, sonra muhtemelen while(INT != 0) satırında takılıp kalıyor ve yeniden enerjilendirene kadar cevap alamıyorum. Bunun sebebi ne olabilir?

INT burada modülün INT bacağını okuyor. INT == 1 ise modül cevap vermeye hazırdır manasında kullanılıyor.

Tekrar iyi akşamlar, teşekkürler.
@selimkoc Hocama da yardımlarından ötürü ayrıca teşekkürler.

MAIN.c

// Durum LED'leri
#define LED1 LATE.B0
#define LED2 LATE.B1
#define LED3 LATE.B2

// Gyro offset
#define Gyrox_offset  3.3
#define Gyroy_offset  0
#define Gyroz_offset  0

// Accel offset
#define Accelx_offset -0.07
#define Accely_offset 0.02
#define Accelz_offset 0.2

// Temperature offset
#define Temp_offset   36.53

// MPU IMU module connections
sbit INT at RB2_bit;
sbit INT_Direction at TRISB2_bit;
// End of MPU IMU module connections

// Variables used
unsigned int raw_data[7];
int gyro_x_temp, gyro_y_temp, gyro_z_temp, accel_x_temp, accel_y_temp, accel_z_temp, temp_raw, st;
char buff, gyro_x_out[15], gyro_y_out[15], gyro_z_out[15], accel_x_out[15], accel_y_out[15], accel_z_out[15], temp_out[15];
float temp, gyro_x, gyro_y, gyro_z, accel_x, accel_y, accel_z;

#include "MPU6050_I2C.c"
#include "MPU6050_MAP.h"

void check_device(unsigned short dev_add){
 I2C1_Start();
 st = I2C1_Wr(dev_add << 1);
 if(st != 0){
       UART1_Write_Text("Device not found...\n\r");
       if(I2C1_Is_Idle() == 0){
             UART1_Write_Text("I2C Bus is idle...\n\r");
       }else if(I2C1_Is_Idle() == 1){
             UART1_Write_Text("I2C Bus is FREE...\n\r");
       }
 }else if(st == 0){
       UART1_Write_Text("Device is OK!\n\r");
 }
 I2C1_Stop();
}

void MCU_init(){
     ADCON1  = 0x0F;                         // Analog özellikli tüm pinler Dijital G/Ç yap?ld?.
     CMCON   = 0x07;                         // Kar??la?t?r?c?lar kapat?ld?.
     LATE    = 0x00;                         // PORTE Temizlendi.
     TRISE   = 0x00;                         // PORTE Ç?k?? yap?ld?.
     LATD    = 0x00;                         // PORTD Temizlendi.
     TRISD   = 0x00;                         // PORTD Ç?k?? yap?ld?.
     UART1_Init(115200);               // Initialize UART module at 9600 bps
     LED1 = 1;
     Delay_ms(50);                  // Wait for UART module to stabilize
     I2C1_Init(400000);         // initialize I2C communication
     LED2 = 1;
     Delay_ms(50);
}

void MPU_init(){
       MPU_I2C_Write(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1 , 1, 0x80);
       Delay_ms(100);
       UART1_Write_Text("1");
       UART1_Write(10);
       MPU_I2C_Write(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1 , 1, 0x00);
       Delay_ms(100);
       UART1_Write_Text("2");
       UART1_Write(10);
       MPU_I2C_Write(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_EN , 1, 0x78);
       Delay_ms(100);
       UART1_Write_Text("3");
       UART1_Write(10);
       MPU_I2C_Write(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_INT_ENABLE , 1, 0x10);
       Delay_ms(100);
       UART1_Write_Text("4");
       UART1_Write(10);
       MPU_I2C_Read (MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 1, &raw_data);
       Delay_ms(100);
       raw_data[0] |= 0x18;
       UART1_Write_Text("5");
       UART1_Write(10);
       MPU_I2C_Write(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 1, &raw_data[0]);
       Delay_ms(100);
       UART1_Write_Text("6");
       UART1_Write(10);
       MPU_I2C_Read (MPU6050_DEFAULT_ADDRESS, MPU6050_RA_INT_ENABLE, 1, &raw_data);
       Delay_ms(100);
       raw_data[0] |= 0x11;
       UART1_Write_Text("7");
       UART1_Write(10);
       MPU_I2C_Write(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_INT_ENABLE, 1, &raw_data[0]);
       Delay_ms(100);
       UART1_Write_Text("8");
       UART1_Write(10);
}

void main() {
     MCU_init();
     UART1_Write_Text("Start");
     UART1_Write(10);
     UART1_Write(13);

     check_device(MPU6050_DEFAULT_ADDRESS);  // ilk kontrolde device not found
     check_device(MPU6050_DEFAULT_ADDRESS);  // ikinci kontrolde device is ok! Sebebini öğren!!!
     delay_ms(2000);
     
     MPU_init();
     UART1_Write_Text("INIT Succeed...");
     UART1_Write(10);
     delay_ms(500);
     while(1) {
              while(INT != 1);              // Wait until INT line becomes 1
              MPU_I2C_Read_Int(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_XOUT_H, 7, &raw_data);   // Read data from MPU
              Extract_Readings();                                                  // Extract data from the readings
              Set_Offset();                                                        // Set offset
              Convert_Readings_To_String();                                        // Convert readings to strings
              Print_Readings();
}
}

MPU6050_I2C.c

void MPU_I2C_Write(unsigned char s_addr, unsigned char r_addr, unsigned char len, unsigned char *dat) {
  unsigned int i;
  s_addr <<= 1;
  I2C1_Start();                      // issue I2C start signal
  I2C1_Wr(s_addr & 0xFE);            // send byte via I2C  (device address + W(&0xFE))
  I2C1_Wr(r_addr);                   // send byte (address of EEPROM location)
  for (i = 0 ; i < len ; i++){
    I2C1_Wr(*dat++);                 // send data (data to be written)
  }
  I2C1_Stop();                       // issue I2C stop signal
}

void MPU_I2C_Read(unsigned char s_addr, unsigned char r_addr, unsigned char len, unsigned char *dat) {
  unsigned int i;
  s_addr <<= 1;
  I2C1_Start();                      // issue I2C start signal
  I2C1_Wr(s_addr & 0xFE);            // send byte via I2C  (device address + W(&0xFE))
  I2C1_Wr(r_addr);                   // send byte (data address)
  I2C1_Repeated_Start();             // issue I2C signal repeated start
  I2C1_Wr(s_addr | 0x01);            // send byte (device address + R(|0x01))
  for (i = 0; i < (len-1); i++){
    *dat++ = I2C1_Rd(_I2C_ACK);      // Read the data (acknowledge)
  }
  *dat = I2C1_Rd(_I2C_NACK);         // Read the data (NO acknowledge)
  I2C1_Stop();                       // issue I2C stop signal
}

void MPU_I2C_Read_Int(unsigned char s_addr, unsigned char r_addr, unsigned char len, unsigned char *dat){
  unsigned int i;
  unsigned short *pt;
  s_addr <<= 1;
  I2C1_Start();                      // issue I2C start signal
  I2C1_Wr(s_addr & 0xFE);            // send byte via I2C  (device address + W(&0xFE))
  I2C1_Wr(r_addr);                   // send byte (data address)
  I2C1_Repeated_Start();             // issue I2C signal repeated start
  I2C1_Wr(s_addr | 0x01);            // send byte (device address + R(|0x01))
  for (i = 0 ; i < ((len << 1)-1) ; i++){
    if (i%2) {
      pt = pt - 1;
    }else {
      pt = dat + i + 1;
    }
    *pt = I2C1_Rd(_I2C_ACK);         // Read the data (acknowledge)
  }
  *(pt - 1) = I2C1_Rd(_I2C_NACK);    // Read the data (NO acknowledge)
  I2C1_Stop();                       // issue I2C stop signal
}



void Extract_Readings() {
  // Extract accel readings
  accel_x_temp = raw_data[0];
  accel_x = (float)accel_x_temp / 2048.0;
  accel_y_temp = raw_data[1];
  accel_y = (float)accel_y_temp / 2048.0;
  accel_z_temp = raw_data[2];
  accel_z = (float)accel_z_temp / 2048.0;

  // Extract temperature readings
  temp_raw = raw_data[3];
  temp = (float)temp_raw / 340.0;

  // Extract gyro readings
  gyro_x_temp = raw_data[4];
  gyro_x = (float)gyro_x_temp / 131.0;
  gyro_y_temp = raw_data[5];
  gyro_y = (float)gyro_y_temp / 131.0;
  gyro_z_temp = raw_data[6];
  gyro_z = (float)gyro_z_temp / 131.0;
}

void Set_Offset() {
  // Set accel offset
  accel_x += Accelx_offset;
  accel_y += Accely_offset;
  accel_z += Accelz_offset;

  // Set temp offset
  temp += Temp_offset;

  // Set gyro offset
  gyro_x += Gyrox_offset;
  gyro_y += Gyroy_offset;
  gyro_z += Gyroz_offset;
}

void Convert_Readings_To_String() {
  // Convert accel readings
  FloatToStr(accel_x, accel_x_out);
  FloatToStr(accel_y, accel_y_out);
  FloatToStr(accel_z, accel_z_out);

  // Convert temperature readings
  FloatToStr(temp, temp_out);

  // Convert gyro readings
  FloatToStr(gyro_x, gyro_x_out);
  FloatToStr(gyro_y, gyro_y_out);
  FloatToStr(gyro_z, gyro_z_out);
}

void Print_Readings() {
  // Print gyro readings
  UART1_Write_Text("Gyro readings :");
  UART1_Write(0x0D);
  UART1_Write_Text("x = ");
  UART1_Write_Text(gyro_x_out);
  UART1_Write(0x0D);
  UART1_Write_Text("y = ");
  UART1_Write_Text(gyro_y_out);
  UART1_Write(0x0D);
  UART1_Write_Text("z = ");
  UART1_Write_Text(gyro_z_out);
  UART1_Write(0x0D);
  UART1_Write(0x0D);
  UART1_Write(0x0D);

  // Print accel readings
  UART1_Write_Text("Accel readings :");
  UART1_Write(0x0D);
  UART1_Write_Text("x = ");
  UART1_Write_Text(accel_x_out);
  UART1_Write(0x0D);
  UART1_Write_Text("y = ");
  UART1_Write_Text(accel_y_out);
  UART1_Write(0x0D);
  UART1_Write_Text("z = ");
  UART1_Write_Text(accel_z_out);
  UART1_Write(0x0D);
  UART1_Write(0x0D);
  UART1_Write(0x0D);

  // Convert temperature readings
  UART1_Write_Text("Temperature readings (Celsius) = ");
  UART1_Write_Text(temp_out);
  UART1_Write(0x0D);
  UART1_Write(0x0D);
  UART1_Write(0x0D);
  Delay_ms(1000);
}

MPU6050_MAP.h

#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW

#define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_X_FINE_GAIN      0x03 //[7:0] X_FINE_GAIN
#define MPU6050_RA_Y_FINE_GAIN      0x04 //[7:0] Y_FINE_GAIN
#define MPU6050_RA_Z_FINE_GAIN      0x05 //[7:0] Z_FINE_GAIN
#define MPU6050_RA_XA_OFFS_H        0x06 //[15:0] XA_OFFS
#define MPU6050_RA_XA_OFFS_L_TC     0x07
#define MPU6050_RA_YA_OFFS_H        0x08 //[15:0] YA_OFFS
#define MPU6050_RA_YA_OFFS_L_TC     0x09
#define MPU6050_RA_ZA_OFFS_H        0x0A //[15:0] ZA_OFFS
#define MPU6050_RA_ZA_OFFS_L_TC     0x0B
#define MPU6050_RA_SELF_TEST_X      0x0D //[7:5] XA_TEST[4-2], [4:0] XG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_Y      0x0E //[7:5] YA_TEST[4-2], [4:0] YG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_Z      0x0F //[7:5] ZA_TEST[4-2], [4:0] ZG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_A      0x10 //[5:4] XA_TEST[1-0], [3:2] YA_TEST[1-0], [1:0] ZA_TEST[1-0]
#define MPU6050_RA_XG_OFFS_USRH     0x13 //[15:0] XG_OFFS_USR
#define MPU6050_RA_XG_OFFS_USRL     0x14
#define MPU6050_RA_YG_OFFS_USRH     0x15 //[15:0] YG_OFFS_USR
#define MPU6050_RA_YG_OFFS_USRL     0x16
#define MPU6050_RA_ZG_OFFS_USRH     0x17 //[15:0] ZG_OFFS_USR
#define MPU6050_RA_ZG_OFFS_USRL     0x18
#define MPU6050_RA_SMPLRT_DIV       0x19
#define MPU6050_RA_CONFIG           0x1A
#define MPU6050_RA_GYRO_CONFIG      0x1B
#define MPU6050_RA_ACCEL_CONFIG     0x1C
#define MPU6050_RA_FF_THR           0x1D
#define MPU6050_RA_FF_DUR           0x1E
#define MPU6050_RA_MOT_THR          0x1F
#define MPU6050_RA_MOT_DUR          0x20
#define MPU6050_RA_ZRMOT_THR        0x21
#define MPU6050_RA_ZRMOT_DUR        0x22
#define MPU6050_RA_FIFO_EN          0x23
#define MPU6050_RA_I2C_MST_CTRL     0x24
#define MPU6050_RA_I2C_SLV0_ADDR    0x25
#define MPU6050_RA_I2C_SLV0_REG     0x26
#define MPU6050_RA_I2C_SLV0_CTRL    0x27
#define MPU6050_RA_I2C_SLV1_ADDR    0x28
#define MPU6050_RA_I2C_SLV1_REG     0x29
#define MPU6050_RA_I2C_SLV1_CTRL    0x2A
#define MPU6050_RA_I2C_SLV2_ADDR    0x2B
#define MPU6050_RA_I2C_SLV2_REG     0x2C
#define MPU6050_RA_I2C_SLV2_CTRL    0x2D
#define MPU6050_RA_I2C_SLV3_ADDR    0x2E
#define MPU6050_RA_I2C_SLV3_REG     0x2F
#define MPU6050_RA_I2C_SLV3_CTRL    0x30
#define MPU6050_RA_I2C_SLV4_ADDR    0x31
#define MPU6050_RA_I2C_SLV4_REG     0x32
#define MPU6050_RA_I2C_SLV4_DO      0x33
#define MPU6050_RA_I2C_SLV4_CTRL    0x34
#define MPU6050_RA_I2C_SLV4_DI      0x35
#define MPU6050_RA_I2C_MST_STATUS   0x36
#define MPU6050_RA_INT_PIN_CFG      0x37
#define MPU6050_RA_INT_ENABLE       0x38
#define MPU6050_RA_DMP_INT_STATUS   0x39
#define MPU6050_RA_INT_STATUS       0x3A
#define MPU6050_RA_ACCEL_XOUT_H     0x3B
#define MPU6050_RA_ACCEL_XOUT_L     0x3C
#define MPU6050_RA_ACCEL_YOUT_H     0x3D
#define MPU6050_RA_ACCEL_YOUT_L     0x3E
#define MPU6050_RA_ACCEL_ZOUT_H     0x3F
#define MPU6050_RA_ACCEL_ZOUT_L     0x40
#define MPU6050_RA_TEMP_OUT_H       0x41
#define MPU6050_RA_TEMP_OUT_L       0x42
#define MPU6050_RA_GYRO_XOUT_H      0x43
#define MPU6050_RA_GYRO_XOUT_L      0x44
#define MPU6050_RA_GYRO_YOUT_H      0x45
#define MPU6050_RA_GYRO_YOUT_L      0x46
#define MPU6050_RA_GYRO_ZOUT_H      0x47
#define MPU6050_RA_GYRO_ZOUT_L      0x48
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
#define MPU6050_RA_MOT_DETECT_STATUS    0x61
#define MPU6050_RA_I2C_SLV0_DO      0x63
#define MPU6050_RA_I2C_SLV1_DO      0x64
#define MPU6050_RA_I2C_SLV2_DO      0x65
#define MPU6050_RA_I2C_SLV3_DO      0x66
#define MPU6050_RA_I2C_MST_DELAY_CTRL   0x67
#define MPU6050_RA_SIGNAL_PATH_RESET    0x68
#define MPU6050_RA_MOT_DETECT_CTRL      0x69
#define MPU6050_RA_USER_CTRL        0x6A
#define MPU6050_RA_PWR_MGMT_1       0x6B
#define MPU6050_RA_PWR_MGMT_2       0x6C
#define MPU6050_RA_BANK_SEL         0x6D
#define MPU6050_RA_MEM_START_ADDR   0x6E
#define MPU6050_RA_MEM_R_W          0x6F
#define MPU6050_RA_DMP_CFG_1        0x70
#define MPU6050_RA_DMP_CFG_2        0x71
#define MPU6050_RA_FIFO_COUNTH      0x72
#define MPU6050_RA_FIFO_COUNTL      0x73
#define MPU6050_RA_FIFO_R_W         0x74
#define MPU6050_RA_WHO_AM_I         0x75

#define MPU6050_SELF_TEST_XA_1_BIT     0x07
#define MPU6050_SELF_TEST_XA_1_LENGTH  0x03
#define MPU6050_SELF_TEST_XA_2_BIT     0x05
#define MPU6050_SELF_TEST_XA_2_LENGTH  0x02
#define MPU6050_SELF_TEST_YA_1_BIT     0x07
#define MPU6050_SELF_TEST_YA_1_LENGTH  0x03
#define MPU6050_SELF_TEST_YA_2_BIT     0x03
#define MPU6050_SELF_TEST_YA_2_LENGTH  0x02
#define MPU6050_SELF_TEST_ZA_1_BIT     0x07
#define MPU6050_SELF_TEST_ZA_1_LENGTH  0x03
#define MPU6050_SELF_TEST_ZA_2_BIT     0x01
#define MPU6050_SELF_TEST_ZA_2_LENGTH  0x02

#define MPU6050_SELF_TEST_XG_1_BIT     0x04
#define MPU6050_SELF_TEST_XG_1_LENGTH  0x05
#define MPU6050_SELF_TEST_YG_1_BIT     0x04
#define MPU6050_SELF_TEST_YG_1_LENGTH  0x05
#define MPU6050_SELF_TEST_ZG_1_BIT     0x04
#define MPU6050_SELF_TEST_ZG_1_LENGTH  0x05

#define MPU6050_TC_PWR_MODE_BIT     7
#define MPU6050_TC_OFFSET_BIT       6
#define MPU6050_TC_OFFSET_LENGTH    6
#define MPU6050_TC_OTP_BNK_VLD_BIT  0

#define MPU6050_VDDIO_LEVEL_VLOGIC  0
#define MPU6050_VDDIO_LEVEL_VDD     1

#define MPU6050_CFG_EXT_SYNC_SET_BIT    5
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
#define MPU6050_CFG_DLPF_CFG_BIT    2
#define MPU6050_CFG_DLPF_CFG_LENGTH 3

#define MPU6050_EXT_SYNC_DISABLED       0x0
#define MPU6050_EXT_SYNC_TEMP_OUT_L     0x1
#define MPU6050_EXT_SYNC_GYRO_XOUT_L    0x2
#define MPU6050_EXT_SYNC_GYRO_YOUT_L    0x3
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L    0x4
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L   0x5
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L   0x6
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L   0x7

#define MPU6050_DLPF_BW_256         0x00
#define MPU6050_DLPF_BW_188         0x01
#define MPU6050_DLPF_BW_98          0x02
#define MPU6050_DLPF_BW_42          0x03
#define MPU6050_DLPF_BW_20          0x04
#define MPU6050_DLPF_BW_10          0x05
#define MPU6050_DLPF_BW_5           0x06

#define MPU6050_GCONFIG_FS_SEL_BIT      4
#define MPU6050_GCONFIG_FS_SEL_LENGTH   2

#define MPU6050_GYRO_FS_250         0x00
#define MPU6050_GYRO_FS_500         0x01
#define MPU6050_GYRO_FS_1000        0x02
#define MPU6050_GYRO_FS_2000        0x03

#define MPU6050_ACONFIG_XA_ST_BIT           7
#define MPU6050_ACONFIG_YA_ST_BIT           6
#define MPU6050_ACONFIG_ZA_ST_BIT           5
#define MPU6050_ACONFIG_AFS_SEL_BIT         4
#define MPU6050_ACONFIG_AFS_SEL_LENGTH      2
#define MPU6050_ACONFIG_ACCEL_HPF_BIT       2
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH    3

#define MPU6050_ACCEL_FS_2          0x00
#define MPU6050_ACCEL_FS_4          0x01
#define MPU6050_ACCEL_FS_8          0x02
#define MPU6050_ACCEL_FS_16         0x03

#define MPU6050_DHPF_RESET          0x00
#define MPU6050_DHPF_5              0x01
#define MPU6050_DHPF_2P5            0x02
#define MPU6050_DHPF_1P25           0x03
#define MPU6050_DHPF_0P63           0x04
#define MPU6050_DHPF_HOLD           0x07

#define MPU6050_TEMP_FIFO_EN_BIT    7
#define MPU6050_XG_FIFO_EN_BIT      6
#define MPU6050_YG_FIFO_EN_BIT      5
#define MPU6050_ZG_FIFO_EN_BIT      4
#define MPU6050_ACCEL_FIFO_EN_BIT   3
#define MPU6050_SLV2_FIFO_EN_BIT    2
#define MPU6050_SLV1_FIFO_EN_BIT    1
#define MPU6050_SLV0_FIFO_EN_BIT    0

#define MPU6050_MULT_MST_EN_BIT     7
#define MPU6050_WAIT_FOR_ES_BIT     6
#define MPU6050_SLV_3_FIFO_EN_BIT   5
#define MPU6050_I2C_MST_P_NSR_BIT   4
#define MPU6050_I2C_MST_CLK_BIT     3
#define MPU6050_I2C_MST_CLK_LENGTH  4

#define MPU6050_CLOCK_DIV_348       0x0
#define MPU6050_CLOCK_DIV_333       0x1
#define MPU6050_CLOCK_DIV_320       0x2
#define MPU6050_CLOCK_DIV_308       0x3
#define MPU6050_CLOCK_DIV_296       0x4
#define MPU6050_CLOCK_DIV_286       0x5
#define MPU6050_CLOCK_DIV_276       0x6
#define MPU6050_CLOCK_DIV_267       0x7
#define MPU6050_CLOCK_DIV_258       0x8
#define MPU6050_CLOCK_DIV_500       0x9
#define MPU6050_CLOCK_DIV_471       0xA
#define MPU6050_CLOCK_DIV_444       0xB
#define MPU6050_CLOCK_DIV_421       0xC
#define MPU6050_CLOCK_DIV_400       0xD
#define MPU6050_CLOCK_DIV_381       0xE
#define MPU6050_CLOCK_DIV_364       0xF

#define MPU6050_I2C_SLV_RW_BIT      7
#define MPU6050_I2C_SLV_ADDR_BIT    6
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
#define MPU6050_I2C_SLV_EN_BIT      7
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
#define MPU6050_I2C_SLV_GRP_BIT     4
#define MPU6050_I2C_SLV_LEN_BIT     3
#define MPU6050_I2C_SLV_LEN_LENGTH  4

#define MPU6050_I2C_SLV4_RW_BIT         7
#define MPU6050_I2C_SLV4_ADDR_BIT       6
#define MPU6050_I2C_SLV4_ADDR_LENGTH    7
#define MPU6050_I2C_SLV4_EN_BIT         7
#define MPU6050_I2C_SLV4_INT_EN_BIT     6
#define MPU6050_I2C_SLV4_REG_DIS_BIT    5
#define MPU6050_I2C_SLV4_MST_DLY_BIT    4
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5

#define MPU6050_MST_PASS_THROUGH_BIT    7
#define MPU6050_MST_I2C_SLV4_DONE_BIT   6
#define MPU6050_MST_I2C_LOST_ARB_BIT    5
#define MPU6050_MST_I2C_SLV4_NACK_BIT   4
#define MPU6050_MST_I2C_SLV3_NACK_BIT   3
#define MPU6050_MST_I2C_SLV2_NACK_BIT   2
#define MPU6050_MST_I2C_SLV1_NACK_BIT   1
#define MPU6050_MST_I2C_SLV0_NACK_BIT   0

#define MPU6050_INTCFG_INT_LEVEL_BIT        7
#define MPU6050_INTCFG_INT_OPEN_BIT         6
#define MPU6050_INTCFG_LATCH_INT_EN_BIT     5
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT     4
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT  3
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT     2
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT    1
#define MPU6050_INTCFG_CLKOUT_EN_BIT        0

#define MPU6050_INTMODE_ACTIVEHIGH  0x00
#define MPU6050_INTMODE_ACTIVELOW   0x01

#define MPU6050_INTDRV_PUSHPULL     0x00
#define MPU6050_INTDRV_OPENDRAIN    0x01

#define MPU6050_INTLATCH_50USPULSE  0x00
#define MPU6050_INTLATCH_WAITCLEAR  0x01

#define MPU6050_INTCLEAR_STATUSREAD 0x00
#define MPU6050_INTCLEAR_ANYREAD    0x01

#define MPU6050_INTERRUPT_FF_BIT            7
#define MPU6050_INTERRUPT_MOT_BIT           6
#define MPU6050_INTERRUPT_ZMOT_BIT          5
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT    4
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT   3
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT   2
#define MPU6050_INTERRUPT_DMP_INT_BIT       1
#define MPU6050_INTERRUPT_DATA_RDY_BIT      0

// TODO: figure out what these actually do
// UMPL source code is not very obivous
#define MPU6050_DMPINT_5_BIT            5
#define MPU6050_DMPINT_4_BIT            4
#define MPU6050_DMPINT_3_BIT            3
#define MPU6050_DMPINT_2_BIT            2
#define MPU6050_DMPINT_1_BIT            1
#define MPU6050_DMPINT_0_BIT            0

#define MPU6050_MOTION_MOT_XNEG_BIT     7
#define MPU6050_MOTION_MOT_XPOS_BIT     6
#define MPU6050_MOTION_MOT_YNEG_BIT     5
#define MPU6050_MOTION_MOT_YPOS_BIT     4
#define MPU6050_MOTION_MOT_ZNEG_BIT     3
#define MPU6050_MOTION_MOT_ZPOS_BIT     2
#define MPU6050_MOTION_MOT_ZRMOT_BIT    0

#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT   7
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT   4
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT   3
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT   2
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT   1
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT   0

#define MPU6050_PATHRESET_GYRO_RESET_BIT    2
#define MPU6050_PATHRESET_ACCEL_RESET_BIT   1
#define MPU6050_PATHRESET_TEMP_RESET_BIT    0

#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT       5
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH    2
#define MPU6050_DETECT_FF_COUNT_BIT             3
#define MPU6050_DETECT_FF_COUNT_LENGTH          2
#define MPU6050_DETECT_MOT_COUNT_BIT            1
#define MPU6050_DETECT_MOT_COUNT_LENGTH         2

#define MPU6050_DETECT_DECREMENT_RESET  0x0
#define MPU6050_DETECT_DECREMENT_1      0x1
#define MPU6050_DETECT_DECREMENT_2      0x2
#define MPU6050_DETECT_DECREMENT_4      0x3

#define MPU6050_USERCTRL_DMP_EN_BIT             7
#define MPU6050_USERCTRL_FIFO_EN_BIT            6
#define MPU6050_USERCTRL_I2C_MST_EN_BIT         5
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT         4
#define MPU6050_USERCTRL_DMP_RESET_BIT          3
#define MPU6050_USERCTRL_FIFO_RESET_BIT         2
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT      1
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT     0

#define MPU6050_PWR1_DEVICE_RESET_BIT   7
#define MPU6050_PWR1_SLEEP_BIT          6
#define MPU6050_PWR1_CYCLE_BIT          5
#define MPU6050_PWR1_TEMP_DIS_BIT       3
#define MPU6050_PWR1_CLKSEL_BIT         2
#define MPU6050_PWR1_CLKSEL_LENGTH      3

#define MPU6050_CLOCK_INTERNAL          0x00
#define MPU6050_CLOCK_PLL_XGYRO         0x01
#define MPU6050_CLOCK_PLL_YGYRO         0x02
#define MPU6050_CLOCK_PLL_ZGYRO         0x03
#define MPU6050_CLOCK_PLL_EXT32K        0x04
#define MPU6050_CLOCK_PLL_EXT19M        0x05
#define MPU6050_CLOCK_KEEP_RESET        0x07

#define MPU6050_PWR2_LP_WAKE_CTRL_BIT       7
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH    2
#define MPU6050_PWR2_STBY_XA_BIT            5
#define MPU6050_PWR2_STBY_YA_BIT            4
#define MPU6050_PWR2_STBY_ZA_BIT            3
#define MPU6050_PWR2_STBY_XG_BIT            2
#define MPU6050_PWR2_STBY_YG_BIT            1
#define MPU6050_PWR2_STBY_ZG_BIT            0

#define MPU6050_WAKE_FREQ_1P25      0x0
#define MPU6050_WAKE_FREQ_2P5       0x1
#define MPU6050_WAKE_FREQ_5         0x2
#define MPU6050_WAKE_FREQ_10        0x3

#define MPU6050_BANKSEL_PRFTCH_EN_BIT       6
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT   5
#define MPU6050_BANKSEL_MEM_SEL_BIT         4
#define MPU6050_BANKSEL_MEM_SEL_LENGTH      5

#define MPU6050_WHO_AM_I_BIT        6
#define MPU6050_WHO_AM_I_LENGTH     6

#define MPU6050_DMP_MEMORY_BANKS        8
#define MPU6050_DMP_MEMORY_BANK_SIZE    256
#define MPU6050_DMP_MEMORY_CHUNK_SIZE   16

Eski konularım;
https://www.picproje.org/index.php/topic,62303.0.html
https://www.picproje.org/index.php/topic,62180.0.html
https://www.picproje.org/index.php/topic,62272.0.html

[Cemre.]

Şu kısmı açıklayabilecek biri var mı acaba?

void MPU_I2C_Read_Int(unsigned char s_addr, unsigned char r_addr, unsigned char len, unsigned char *dat){
  unsigned int i;
  unsigned short *pt;
  s_addr <<= 1;
  I2C1_Start();                      // issue I2C start signal
  I2C1_Wr(s_addr & 0xFE);            // send byte via I2C  (device address + W(&0xFE))
  I2C1_Wr(r_addr);                   // send byte (data address)
  I2C1_Repeated_Start();             // issue I2C signal repeated start
  I2C1_Wr(s_addr | 0x01);            // send byte (device address + R(|0x01))
  for (i = 0 ; i < ((len << 1)-1) ; i++){
    if (i%2) {
      pt = pt - 1;
    }else {
      pt = dat + i + 1;
    }
    *pt = I2C1_Rd(_I2C_ACK);         // Read the data (acknowledge)
  }
  *(pt - 1) = I2C1_Rd(_I2C_NACK);    // Read the data (NO acknowledge)
  I2C1_Stop();                       // issue I2C stop signal
}