MPU6050 stuck in sleepmode (C/C++)/No raw data being transmitted - c++

Question

I have a MPU6050 hooked up to a raspberry pi pico, I am trying to read the data using the i2c protocol. But it only gives 0's, I assume this is due to the fact that its in sleep mode because from what I can tell everything is connected as it should be.
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#include <stdio.h>
#include <string.h>
#include "pico/stdlib.h"
#include "pico/binary_info.h"
#include "hardware/i2c.h"
//mpu address
const static uint8_t MPU_ADDRESS = 0x68;
static void mpu6050_reset() {
// Two byte reset. First byte register, second byte data
// There are a load more options to set up the device in different ways that could be added here
//uint8_t buffer [] = {(uint8_t)65, (uint8_t)66};
//i2c_read_blocking(i2c_default, MPU_ADDRESS, buffer[0], 8, false);
//i2c_read_blocking(i2c_default, MPU_ADDRESS, buffer[1], 8, false);
//printf("b1: %d b2: %d \n", buffer[0], buffer[1]);
uint8_t buf[] = {0x6B, 0x00};
i2c_write_blocking(i2c_default, MPU_ADDRESS, buf, 1, false);
//i2c_read_blocking(i2c_default, MPU_ADDRESS, buffer[0], 8, false);
//i2c_read_blocking(i2c_default, MPU_ADDRESS, buffer[1], 8, false);
}
static void mpu6050_read_raw(int16_t accel[3], int16_t gyro[3], int16_t *temp) {
// For this particular device, we send the device the register we want to read
// first, then subsequently read from the device. The register is auto incrementing
// so we don't need to keep sending the register we want, just the first.
uint8_t buffer[6];
// Start reading acceleration registers from register 0x3B for 6 bytes
uint8_t val = 0x3B;
i2c_write_blocking(i2c_default, MPU_ADDRESS, &val, 1, true); // true to keep master control of bus
i2c_read_blocking(i2c_default, MPU_ADDRESS, buffer, 6, false);
printf("buffer accel, 1: %d, 2: %d, 3: %d, 4: %d, 5: %d, 6: %d \n", buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
for (int i = 0; i < 3; i++) {
accel[i] = (buffer[i * 2] << 8 | buffer[(i * 2) + 1]);
}
// Now gyro data from reg 0x43 for 6 bytes
// The register is auto incrementing on each read
val = 0x43;
i2c_write_blocking(i2c_default, MPU_ADDRESS, &val, 1, true);
i2c_read_blocking(i2c_default, MPU_ADDRESS, buffer, 6, false); // False - finished with bus
for (int i = 0; i < 3; i++) {
gyro[i] = (buffer[i * 2] << 8 | buffer[(i * 2) + 1]);;
}
printf("buffer gyro, 1: %d, 2: %d, 3: %d, 4: %d, 5: %d, 6: %d \n", buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
val = 0x41;
i2c_write_blocking(i2c_default, MPU_ADDRESS, &val, 1, true);
i2c_read_blocking(i2c_default, MPU_ADDRESS, buffer, 2, false); // False - finished with bus
*temp = buffer[0] << 8 | buffer[1];
}
int main() {
//check that pico is powered and running
const uint LED = PICO_DEFAULT_LED_PIN;
gpio_init(LED);
gpio_set_dir(LED, GPIO_OUT);
gpio_put(LED, 1);
//check that pico can use serial output
stdio_init_all();
printf("hello world \n");
//setup i2c buffer address stuff
uint8_t MPU_ACCELRATION_BUFFER = 0x3B;
uint8_t MPU_GRYOSCOPE_BUFFER = 0x43;
//turn on MPU power
const uint MPU_POWER = 1;
gpio_init(MPU_POWER);
gpio_set_dir(MPU_POWER, GPIO_OUT);
gpio_put(MPU_POWER, 1);
i2c_init(i2c_default, 400 * 1000);
gpio_set_function(PICO_DEFAULT_I2C_SDA_PIN, GPIO_FUNC_I2C);
gpio_set_function(PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C);
gpio_pull_up(PICO_DEFAULT_I2C_SDA_PIN);
gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN);
// Make the I2C pins available to picotool
bi_decl(bi_2pins_with_func(PICO_DEFAULT_I2C_SDA_PIN, PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C));
//while (1){
mpu6050_reset();
//}
int16_t acceleration[3], gyro[3], temp;
while (1) {
mpu6050_reset();
mpu6050_read_raw(acceleration, gyro, &temp);
// These are the raw numbers from the chip, so will need tweaking to be really useful.
// See the datasheet for more information
printf("Acc. X = %d, Y = %d, Z = %d\n", acceleration[0], acceleration[1], acceleration[2]);
printf("Gyro. X = %d, Y = %d, Z = %d\n", gyro[0], gyro[1], gyro[2]);
printf("Temp. = %f\n", (temp / 340.0) + 36.53);
sleep_ms(100);
}
return 0;
}
`
This is the code, using the raspberry pi c/cpp sdk. A large chunk of it is simply the example for the mpu6050 which all seems to be valid, and there is code included meant to wake up the mpu6050. So are there any other methods of waking the MPU6050 up or does the issue appear to be something else within the code?