Renesas RA6M4 With MPU6050 Driver

Below is the professional technical translation of the provided text about porting the MPU6050 driver to the Renesas RA6M4 platform:

Recently, I acquired an RA6M4 development board through Renesas' official website. Since I still had some leftover sensors from university projects, I decided to use this opportunity to get started with Renesas MCUs.

Preparations

Current Renesas RA-series MCUs are ARM-based and can be developed using IAR or Keil. However, the best support for all features comes from the official e²studio IDE paired with FSP (Flexible Software Package). For those familiar with STM32:

1. e²studio is analogous to Keil 5 (IDE).
2. FSP is similar to CubeMX (graphical configuration tool).

Hardware: Renesas EK-RA6M4 development board and an MPU6050 accelerometer. Software: The official MPU6050 driver sourced online.

After installing e²studio and the FSP plugin:

1. Create a new RA project.
2. Select the EK-RA6M4 development board during setup.
3. FSP pre-defines I/O for onboard peripherals.
4. For custom/third-party boards, choose "Custom User Board" and specify the chip model.
5. Proceed through the prompts to finalize the project. e²studio will auto-open the FSP configuration interface.

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Key configuration tabs include:

1. Summary, BSP, Clocks, and Stacks (where peripheral modules are managed).
2. Add an I²C module for MPU6050 communication:
3. Navigate to Stacks → New Stack → Connectivity → I2C Master.

I²C Configuration Properties:

ParameterValue

Slave Address

0x68

Address Mode

7-bit

Callback Function

i2c_callback

Interrupt Priority

Configure as needed

I/O Pins

Board-specific

After configuration, click Generate Project Content to auto-generate driver code.

Generated directories include:

1. ra/ & ra_gen/: Renesas BSP and FSP-generated drivers.
2. src/: Main application code (entry point).
3. configuration.xml: FSP settings (double-click to reopen FSP).
4. Developer Assistance: Drag-and-drop APIs (e.g., OPEN, read, write) into your code. Parameters are pre-filled!

​​编辑​

Note: Compared to CubeMX+Keil, e²studio streamlines development by integrating IDE + graphical configuration + API drag-and-drop.

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1. Copy the official MPU6050 driver files into src/.
2. Replace original I²C functions with FSP-generated equivalents:
3. Example: Replace I2C_Write() with g_iic->write().
4. Initialize I²C in main() and call MPU6050 APIs.

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