STEVAL-MKI245KA IMU readings not updating
I'm using the STEVAL-MKI245KA development kit, trying to get the IMU readings with an AT-Mega through I2C. The I2C communication between the adapter board of the kit is working, but the IMU values recieved by the arduino are not updating. When I run the code to get the accelerometer and gyroscope values, the value is always 0 for all axes acc and gyro. (the reason I know the I2C is working is because when it wasn't working, the values were all -1, but when it does 'work' the values at all 0).
Here is a screenshot from the datasheet of the IMU with the registers of all the parameters:
And here is the code that I am using to access the values at these registers:
#include <Wire.h>
#define IMU_ADDRESS 0x6B // Address of the IMU device
void setup() {
Wire.begin(); // Initialize I2C communication
Serial.begin(9600); // Initialize serial communication
}
void loop() {
// Read STATUS_REG register
Wire.beginTransmission(IMU_ADDRESS);
Wire.write(0x1E); // Address of the STATUS_REG register
Wire.endTransmission(false);
Wire.requestFrom(IMU_ADDRESS, 1);
byte status = Wire.read();
// Check if there is new accelerometer and gyroscope data available
bool newDataAvailable = (status & 0x03) == 0x03;
if (newDataAvailable) {
// Read angular rate of pitch
int pitch = readAxisData(0x22); // OUTX_L_G register
// Read angular rate of roll
int roll = readAxisData(0x24); // OUTY_L_G register
// Read angular rate of yaw
int yaw = readAxisData(0x26); // OUTZ_L_G register
// Read acceleration of X axis
int accelX = readAxisData(0x28); // OUTX_L_A register
// Read acceleration of Y axis
int accelY = readAxisData(0x2A); // OUTY_L_A register
// Read acceleration of Z axis
int accelZ = readAxisData(0x2C); // OUTZ_L_A register
// Print the values
Serial.print("Pitch: ");
Serial.println(pitch);
Serial.print("Roll: ");
Serial.println(roll);
Serial.print("Yaw: ");
Serial.println(yaw);
Serial.print("Accel X: ");
Serial.println(accelX);
Serial.print("Accel Y: ");
Serial.println(accelY);
Serial.print("Accel Z: ");
Serial.println(accelZ);
}
else {
Serial.println("No new data");
}
delay(1000); // Wait for 1 second before reading again
}
int readAxisData(uint8_t reg) {
Wire.beginTransmission(IMU_ADDRESS);
Wire.write(reg);
Wire.endTransmission(false);
Wire.requestFrom(IMU_ADDRESS, 2);
// Read the 16-bit value
int16_t value = Wire.read() | (Wire.read() << 8);
if (value & (1 << 15)) {
value = value - 65536; // If negative, convert to 16-bit value
}
return value;
}What am I doing wrong? My end goal is to read and use the IMU accel and gyro values for dead reckoning.