mprairie

This is a little late to the topic, but hopefully it will help the next time it comes up in a search...
 
The key to success with the MPU-6050 module that I got from Amazon (about $4 US) was to use a 5V source for the board's Vcc.  It has a 3.3V regulator on board to convert the 5V from Arduino to 3.3V required, and the LaunchPad's 3.3V Vcc was not enough.  The module also contains pull-up resistors for SCL and SDA, and 330-Ohm resistors on the SCL and SDA lines as well.  I was able to connect the LaunchPad GND, SCL (P1.6) and SDA (P1.7) directly to the module, but powered the module separately with a 5V source, and it worked fine.
 
I adapted some code from the TI examples that use the USCIAB0TX_VECTOR interrupt service routine when UCB0RXIFG or UCB0TXIFG is set.
 
Mike
/* * I2C_Accel_MPU6050 * * Version 1: Read raw accelerometer X, Y and Z data continuously * * P1.6 UCB0SCL * P1.7 UCB0SDA * * MPU-6050 Accelerometer & Gyro * NOTE: Default state of the MPU-6050 is SLEEP mode. * Wake up by writing 0x00 to the PWR_MGMT_1 register * NOTE: No-name version from Amazon has a 5V to 3.3V regulator, and Vcc MUST be 5V !!! * 10-kOhm pull-up resistors are included on the board * 330-Ohm resistors are included in series on SCL and SDA * (safe to connect P1.6 & P1.7 directly to SCL and SDA) * * Slave address: 0x68 (AD0=0) or 0x69 (AD0=1) * * Z-data buffer addresses: * 0x3B ACCEL_XOUT_H R ACCEL_XOUT[15:8] * 0x3C ACCEL_XOUT_L R ACCEL_XOUT[ 7:0] * 0x3D ACCEL_YOUT_H R ACCEL_YOUT[15:8] * 0x3E ACCEL_YOUT_L R ACCEL_YOUT[ 7:0] * 0x3F ACCEL_ZOUT_H R ACCEL_ZOUT[15:8] * 0x40 ACCEL_ZOUT_L R ACCEL_ZOUT[ 7:0] * * pins not used: INT (interrupt for data ready in the 1024-byte FIFO bufer) * XCL, XDA (external clock and data lines for MPU-6050 I2C bus) * * Reading the raw values: disable sleep mode * 0x6B PWR_MGMT_1 --> set to 0 * */ #include <msp430.h> /* * main.c */ unsigned char RX_Data[6]; unsigned char TX_Data[2]; unsigned char RX_ByteCtr; unsigned char TX_ByteCtr; int xAccel; int yAccel; int zAccel; unsigned char slaveAddress = 0x68; // Set slave address for MPU-6050 // 0x68 for ADD pin=0 // 0x69 for ADD pin=1 const unsigned char PWR_MGMT_1 = 0x6B; // MPU-6050 register address const unsigned char ACCEL_XOUT_H = 0x3B; // MPU-6050 register address const unsigned char ACCEL_XOUT_L = 0x3C; // MPU-6050 register address const unsigned char ACCEL_YOUT_H = 0x3D; // MPU-6050 register address const unsigned char ACCEL_YOUT_L = 0x3E; // MPU-6050 register address const unsigned char ACCEL_ZOUT_H = 0x3F; // MPU-6050 register address const unsigned char ACCEL_ZOUT_L = 0x40; // MPU-6050 register address void i2cInit(void); void i2cWrite(unsigned char); void i2cRead(unsigned char); int main(void) { WDTCTL = WDTPW + WDTHOLD; // Stop WDT // Set clock speed (default = 1 MHz) BCSCTL1 = CALBC1_1MHZ; // Basic Clock System CTL (1,8,12 16_MHZ available) DCOCTL = CALDCO_1MHZ; // Digitally-Controlled Oscillator CTL // set up I2C pins P1SEL |= BIT6 + BIT7; // Assign I2C pins to USCI_B0 P1SEL2|= BIT6 + BIT7; // Assign I2C pins to USCI_B0 // Initialize the I2C state machine i2cInit(); // Wake up the MPU-6050 slaveAddress = 0x68; // MPU-6050 address TX_Data[1] = 0x6B; // address of PWR_MGMT_1 register TX_Data[0] = 0x00; // set register to zero (wakes up the MPU-6050) TX_ByteCtr = 2; i2cWrite(slaveAddress); while (1) { // Point to the ACCEL_ZOUT_H register in the MPU-6050 slaveAddress = 0x68; // MPU-6050 address TX_Data[0] = 0x3B; // register address TX_ByteCtr = 1; i2cWrite(slaveAddress); // Read the two bytes of data and store them in zAccel slaveAddress = 0x68; // MPU-6050 address RX_ByteCtr = 6; i2cRead(slaveAddress); xAccel = RX_Data[5] << 8; // MSB xAccel |= RX_Data[4]; // LSB yAccel = RX_Data[3] << 8; // MSB yAccel |= RX_Data[2]; // LSB zAccel = RX_Data[1] << 8; // MSB zAccel |= RX_Data[0]; // LSB // do something with the data __no_operation(); // Set breakpoint >>here<< and read } } //********************************************************************************************* void i2cInit(void) { // set up I2C module UCB0CTL1 |= UCSWRST; // Enable SW reset UCB0CTL0 = UCMST + UCMODE_3 + UCSYNC; // I2C Master, synchronous mode UCB0CTL1 = UCSSEL_2 + UCSWRST; // Use SMCLK, keep SW reset UCB0BR0 = 10; // fSCL = SMCLK/12 = ~100kHz UCB0BR1 = 0; UCB0CTL1 &= ~UCSWRST; // Clear SW reset, resume operation } //********************************************************************************************* void i2cWrite(unsigned char address) { __disable_interrupt(); UCB0I2CSA = address; // Load slave address IE2 |= UCB0TXIE; // Enable TX interrupt while(UCB0CTL1 & UCTXSTP); // Ensure stop condition sent UCB0CTL1 |= UCTR + UCTXSTT; // TX mode and START condition __bis_SR_register(CPUOFF + GIE); // sleep until UCB0TXIFG is set ... } //********************************************************************************************* void i2cRead(unsigned char address) { __disable_interrupt(); UCB0I2CSA = address; // Load slave address IE2 |= UCB0RXIE; // Enable RX interrupt while(UCB0CTL1 & UCTXSTP); // Ensure stop condition sent UCB0CTL1 &= ~UCTR; // RX mode UCB0CTL1 |= UCTXSTT; // Start Condition __bis_SR_register(CPUOFF + GIE); // sleep until UCB0RXIFG is set ... } /**********************************************************************************************/ // USCIAB0TX_ISR #pragma vector = USCIAB0TX_VECTOR __interrupt void USCIAB0TX_ISR(void) { if(UCB0CTL1 & UCTR) // TX mode (UCTR == 1) { if (TX_ByteCtr)  // TRUE if more bytes remain { TX_ByteCtr--; // Decrement TX byte counter UCB0TXBUF = TX_Data[TX_ByteCtr]; // Load TX buffer } else // no more bytes to send { UCB0CTL1 |= UCTXSTP; // I2C stop condition IFG2 &= ~UCB0TXIFG; // Clear USCI_B0 TX int flag __bic_SR_register_on_exit(CPUOFF); // Exit LPM0 } } else // (UCTR == 0) // RX mode { RX_ByteCtr--;         // Decrement RX byte counter if (RX_ByteCtr)         // RxByteCtr != 0 { RX_Data[RX_ByteCtr] = UCB0RXBUF; // Get received byte if (RX_ByteCtr == 1) // Only one byte left? UCB0CTL1 |= UCTXSTP; // Generate I2C stop condition } else // RxByteCtr == 0 { RX_Data[RX_ByteCtr] = UCB0RXBUF; // Get final received byte __bic_SR_register_on_exit(CPUOFF); // Exit LPM0 } } }

This is a little late to the topic, but hopefully it will help the next time it comes up in a search...
 
The key to success with the MPU-6050 module that I got from Amazon (about $4 US) was to use a 5V source for the board's Vcc.  It has a 3.3V regulator on board to convert the 5V from Arduino to 3.3V required, and the LaunchPad's 3.3V Vcc was not enough.  The module also contains pull-up resistors for SCL and SDA, and 330-Ohm resistors on the SCL and SDA lines as well.  I was able to connect the LaunchPad GND, SCL (P1.6) and SDA (P1.7) directly to the module, but powered the module separately with a 5V source, and it worked fine.
 
I adapted some code from the TI examples that use the USCIAB0TX_VECTOR interrupt service routine when UCB0RXIFG or UCB0TXIFG is set.
 
Mike
/* * I2C_Accel_MPU6050 * * Version 1: Read raw accelerometer X, Y and Z data continuously * * P1.6 UCB0SCL * P1.7 UCB0SDA * * MPU-6050 Accelerometer & Gyro * NOTE: Default state of the MPU-6050 is SLEEP mode. * Wake up by writing 0x00 to the PWR_MGMT_1 register * NOTE: No-name version from Amazon has a 5V to 3.3V regulator, and Vcc MUST be 5V !!! * 10-kOhm pull-up resistors are included on the board * 330-Ohm resistors are included in series on SCL and SDA * (safe to connect P1.6 & P1.7 directly to SCL and SDA) * * Slave address: 0x68 (AD0=0) or 0x69 (AD0=1) * * Z-data buffer addresses: * 0x3B ACCEL_XOUT_H R ACCEL_XOUT[15:8] * 0x3C ACCEL_XOUT_L R ACCEL_XOUT[ 7:0] * 0x3D ACCEL_YOUT_H R ACCEL_YOUT[15:8] * 0x3E ACCEL_YOUT_L R ACCEL_YOUT[ 7:0] * 0x3F ACCEL_ZOUT_H R ACCEL_ZOUT[15:8] * 0x40 ACCEL_ZOUT_L R ACCEL_ZOUT[ 7:0] * * pins not used: INT (interrupt for data ready in the 1024-byte FIFO bufer) * XCL, XDA (external clock and data lines for MPU-6050 I2C bus) * * Reading the raw values: disable sleep mode * 0x6B PWR_MGMT_1 --> set to 0 * */ #include <msp430.h> /* * main.c */ unsigned char RX_Data[6]; unsigned char TX_Data[2]; unsigned char RX_ByteCtr; unsigned char TX_ByteCtr; int xAccel; int yAccel; int zAccel; unsigned char slaveAddress = 0x68; // Set slave address for MPU-6050 // 0x68 for ADD pin=0 // 0x69 for ADD pin=1 const unsigned char PWR_MGMT_1 = 0x6B; // MPU-6050 register address const unsigned char ACCEL_XOUT_H = 0x3B; // MPU-6050 register address const unsigned char ACCEL_XOUT_L = 0x3C; // MPU-6050 register address const unsigned char ACCEL_YOUT_H = 0x3D; // MPU-6050 register address const unsigned char ACCEL_YOUT_L = 0x3E; // MPU-6050 register address const unsigned char ACCEL_ZOUT_H = 0x3F; // MPU-6050 register address const unsigned char ACCEL_ZOUT_L = 0x40; // MPU-6050 register address void i2cInit(void); void i2cWrite(unsigned char); void i2cRead(unsigned char); int main(void) { WDTCTL = WDTPW + WDTHOLD; // Stop WDT // Set clock speed (default = 1 MHz) BCSCTL1 = CALBC1_1MHZ; // Basic Clock System CTL (1,8,12 16_MHZ available) DCOCTL = CALDCO_1MHZ; // Digitally-Controlled Oscillator CTL // set up I2C pins P1SEL |= BIT6 + BIT7; // Assign I2C pins to USCI_B0 P1SEL2|= BIT6 + BIT7; // Assign I2C pins to USCI_B0 // Initialize the I2C state machine i2cInit(); // Wake up the MPU-6050 slaveAddress = 0x68; // MPU-6050 address TX_Data[1] = 0x6B; // address of PWR_MGMT_1 register TX_Data[0] = 0x00; // set register to zero (wakes up the MPU-6050) TX_ByteCtr = 2; i2cWrite(slaveAddress); while (1) { // Point to the ACCEL_ZOUT_H register in the MPU-6050 slaveAddress = 0x68; // MPU-6050 address TX_Data[0] = 0x3B; // register address TX_ByteCtr = 1; i2cWrite(slaveAddress); // Read the two bytes of data and store them in zAccel slaveAddress = 0x68; // MPU-6050 address RX_ByteCtr = 6; i2cRead(slaveAddress); xAccel = RX_Data[5] << 8; // MSB xAccel |= RX_Data[4]; // LSB yAccel = RX_Data[3] << 8; // MSB yAccel |= RX_Data[2]; // LSB zAccel = RX_Data[1] << 8; // MSB zAccel |= RX_Data[0]; // LSB // do something with the data __no_operation(); // Set breakpoint >>here<< and read } } //********************************************************************************************* void i2cInit(void) { // set up I2C module UCB0CTL1 |= UCSWRST; // Enable SW reset UCB0CTL0 = UCMST + UCMODE_3 + UCSYNC; // I2C Master, synchronous mode UCB0CTL1 = UCSSEL_2 + UCSWRST; // Use SMCLK, keep SW reset UCB0BR0 = 10; // fSCL = SMCLK/12 = ~100kHz UCB0BR1 = 0; UCB0CTL1 &= ~UCSWRST; // Clear SW reset, resume operation } //********************************************************************************************* void i2cWrite(unsigned char address) { __disable_interrupt(); UCB0I2CSA = address; // Load slave address IE2 |= UCB0TXIE; // Enable TX interrupt while(UCB0CTL1 & UCTXSTP); // Ensure stop condition sent UCB0CTL1 |= UCTR + UCTXSTT; // TX mode and START condition __bis_SR_register(CPUOFF + GIE); // sleep until UCB0TXIFG is set ... } //********************************************************************************************* void i2cRead(unsigned char address) { __disable_interrupt(); UCB0I2CSA = address; // Load slave address IE2 |= UCB0RXIE; // Enable RX interrupt while(UCB0CTL1 & UCTXSTP); // Ensure stop condition sent UCB0CTL1 &= ~UCTR; // RX mode UCB0CTL1 |= UCTXSTT; // Start Condition __bis_SR_register(CPUOFF + GIE); // sleep until UCB0RXIFG is set ... } /**********************************************************************************************/ // USCIAB0TX_ISR #pragma vector = USCIAB0TX_VECTOR __interrupt void USCIAB0TX_ISR(void) { if(UCB0CTL1 & UCTR) // TX mode (UCTR == 1) { if (TX_ByteCtr)  // TRUE if more bytes remain { TX_ByteCtr--; // Decrement TX byte counter UCB0TXBUF = TX_Data[TX_ByteCtr]; // Load TX buffer } else // no more bytes to send { UCB0CTL1 |= UCTXSTP; // I2C stop condition IFG2 &= ~UCB0TXIFG; // Clear USCI_B0 TX int flag __bic_SR_register_on_exit(CPUOFF); // Exit LPM0 } } else // (UCTR == 0) // RX mode { RX_ByteCtr--;         // Decrement RX byte counter if (RX_ByteCtr)         // RxByteCtr != 0 { RX_Data[RX_ByteCtr] = UCB0RXBUF; // Get received byte if (RX_ByteCtr == 1) // Only one byte left? UCB0CTL1 |= UCTXSTP; // Generate I2C stop condition } else // RxByteCtr == 0 { RX_Data[RX_ByteCtr] = UCB0RXBUF; // Get final received byte __bic_SR_register_on_exit(CPUOFF); // Exit LPM0 } } }

And there's this one.

this should have it inside, http://www.ti.com/litv/zip/slac060e
 
G2XX3---N20

I have a library here too with this footprint if you want ... Including a few other footprints like Aranan's A110L like in the boosterpack, OLED, LCD's etc.
 
http://www.northernd...les/1 - Jim.lbr
 
Jim