Hi,
I have switched to an ESP32 S3 N16R8 that also works under ESP32S3 Dev module
I understand it is not straightforward to use the MPU6050 DMP with ESP32 but it should be possible.
USB CDC enabled
pressed reset on the board
QPSI PSRAM selected
SCL pin 9
SDA pin 8
Interrupt -> 2
I2C scan finds the device, but when the sketch for the MPU-6050 starts it just gives off a little gibberish each time I press reset. Can someone please guide how to approach this?
EDIT: I just commented and uncommented each of the two libraries as described in the code. No change.
/*
MPU6050 DMP6
Digital Motion Processor or DMP performs complex motion processing tasks.
- Fuses the data from the accel, gyro, and external magnetometer if applied,
compensating individual sensor noise and errors.
- Detect specific types of motion without the need to continuously monitor
raw sensor data with a microcontroller.
- Reduce workload on the microprocessor.
- Output processed data such as quaternions, Euler angles, and gravity vectors.
The code includes an auto-calibration and offsets generator tasks. Different
output formats available.
This code is compatible with the teapot project by using the teapot output format.
Circuit: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
depends on the MPU6050's INT pin being connected to the Arduino's
external interrupt #0 pin.
The teapot processing example may be broken due FIFO structure change if using DMP
6.12 firmware version.
Find the full MPU6050 library documentation here:
https://github.com/ElectronicCats/mpu6050/wiki
*/
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050_6Axis_MotionApps612.h" // Uncomment this library to work with DMP 6.12 and comment on the above library.
/* MPU6050 default I2C address is 0x68*/
MPU6050 mpu;
//MPU6050 mpu(0x69); //Use for AD0 high
//MPU6050 mpu(0x68, &Wire1); //Use for AD0 low, but 2nd Wire (TWI/I2C) object.
/* OUTPUT FORMAT DEFINITION-------------------------------------------------------------------------------------------
- Use "OUTPUT_READABLE_QUATERNION" for quaternion commponents in [w, x, y, z] format. Quaternion does not
suffer from gimbal lock problems but is harder to parse or process efficiently on a remote host or software
environment like Processing.
- Use "OUTPUT_READABLE_EULER" for Euler angles (in degrees) output, calculated from the quaternions coming
from the FIFO. EULER ANGLES SUFFER FROM GIMBAL LOCK PROBLEM.
- Use "OUTPUT_READABLE_YAWPITCHROLL" for yaw/pitch/roll angles (in degrees) calculated from the quaternions
coming from the FIFO. THIS REQUIRES GRAVITY VECTOR CALCULATION.
YAW/PITCH/ROLL ANGLES SUFFER FROM GIMBAL LOCK PROBLEM.
- Use "OUTPUT_READABLE_REALACCEL" for acceleration components with gravity removed. The accel reference frame
is not compensated for orientation. +X will always be +X according to the sensor.
- Use "OUTPUT_READABLE_WORLDACCEL" for acceleration components with gravity removed and adjusted for the world
reference frame. Yaw is relative if there is no magnetometer present.
- Use "OUTPUT_TEAPOT" for output that matches the InvenSense teapot demo.
-------------------------------------------------------------------------------------------------------------------------------*/
#define OUTPUT_READABLE_YAWPITCHROLL
//#define OUTPUT_READABLE_QUATERNION
//#define OUTPUT_READABLE_EULER
//#define OUTPUT_READABLE_REALACCEL
//#define OUTPUT_READABLE_WORLDACCEL
//#define OUTPUT_TEAPOT
int const INTERRUPT_PIN = 2; // Define the interruption #0 pin
bool blinkState;
/*---MPU6050 Control/Status Variables---*/
bool DMPReady = false; // Set true if DMP init was successful
uint8_t MPUIntStatus; // Holds actual interrupt status byte from MPU
uint8_t devStatus; // Return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // Expected DMP packet size (default is 42 bytes)
uint8_t FIFOBuffer[64]; // FIFO storage buffer
/*---Orientation/Motion Variables---*/
Quaternion q; // [w, x, y, z] Quaternion container
VectorInt16 aa; // [x, y, z] Accel sensor measurements
VectorInt16 gy; // [x, y, z] Gyro sensor measurements
VectorInt16 aaReal; // [x, y, z] Gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] World-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] Gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] Yaw/Pitch/Roll container and gravity vector
/*-Packet structure for InvenSense teapot demo-*/
uint8_t teapotPacket[14] = { '$', 0x02, 0, 0, 0, 0, 0, 0, 0, 0, 0x00, 0x00, '\r', '\n' };
/*------Interrupt detection routine------*/
volatile bool MPUInterrupt = false; // Indicates whether MPU6050 interrupt pin has gone high
void DMPDataReady() {
MPUInterrupt = true;
}
void setup() {
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
// Wire.begin();
// my additions
#define I2C_SDA 8
#define I2C_SCL 9
Wire.begin(I2C_SDA, I2C_SCL);
//
Wire.setClock(400000); // 400kHz I2C clock. Comment on this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(115200); //115200 is required for Teapot Demo output
while (!Serial);
/*Initialize device*/
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
/*Verify connection*/
Serial.println(F("Testing MPU6050 connection..."));
if(mpu.testConnection() == false){
Serial.println("MPU6050 connection failed");
while(true);
}
else {
Serial.println("MPU6050 connection successful");
}
/*Wait for Serial input*/
Serial.println(F("\nSend any character to begin: "));
while (Serial.available() && Serial.read()); // Empty buffer
while (!Serial.available()); // Wait for data
while (Serial.available() && Serial.read()); // Empty buffer again
/* Initializate and configure the DMP*/
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
/* Supply your gyro offsets here, scaled for min sensitivity */
mpu.setXGyroOffset(0);
mpu.setYGyroOffset(0);
mpu.setZGyroOffset(0);
mpu.setXAccelOffset(0);
mpu.setYAccelOffset(0);
mpu.setZAccelOffset(0);
/* Making sure it worked (returns 0 if so) */
if (devStatus == 0) {
mpu.CalibrateAccel(6); // Calibration Time: generate offsets and calibrate our MPU6050
mpu.CalibrateGyro(6);
Serial.println("These are the Active offsets: ");
mpu.PrintActiveOffsets();
Serial.println(F("Enabling DMP...")); //Turning ON DMP
mpu.setDMPEnabled(true);
/*Enable Arduino interrupt detection*/
Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
Serial.println(F(")..."));
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), DMPDataReady, RISING);
MPUIntStatus = mpu.getIntStatus();
/* Set the DMP Ready flag so the main loop() function knows it is okay to use it */
Serial.println(F("DMP ready! Waiting for first interrupt..."));
DMPReady = true;
packetSize = mpu.dmpGetFIFOPacketSize(); //Get expected DMP packet size for later comparison
}
else {
Serial.print(F("DMP Initialization failed (code ")); //Print the error code
Serial.print(devStatus);
Serial.println(F(")"));
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
}
pinMode(LED_BUILTIN, OUTPUT);
}
void loop() {
if (!DMPReady) return; // Stop the program if DMP programming fails.
/* Read a packet from FIFO */
if (mpu.dmpGetCurrentFIFOPacket(FIFOBuffer)) { // Get the Latest packet
#ifdef OUTPUT_READABLE_YAWPITCHROLL
/* Display Euler angles in degrees */
mpu.dmpGetQuaternion(&q, FIFOBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.println(ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_QUATERNION
/* Display Quaternion values in easy matrix form: [w, x, y, z] */
mpu.dmpGetQuaternion(&q, FIFOBuffer);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
/* Display Euler angles in degrees */
mpu.dmpGetQuaternion(&q, FIFOBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
/* Display real acceleration, adjusted to remove gravity */
mpu.dmpGetQuaternion(&q, FIFOBuffer);
mpu.dmpGetAccel(&aa, FIFOBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
/* Display initial world-frame acceleration, adjusted to remove gravity
and rotated based on known orientation from Quaternion */
mpu.dmpGetQuaternion(&q, FIFOBuffer);
mpu.dmpGetAccel(&aa, FIFOBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);
#endif
#ifdef OUTPUT_TEAPOT
/* Display quaternion values in InvenSense Teapot demo format */
teapotPacket[2] = FIFOBuffer[0];
teapotPacket[3] = FIFOBuffer[1];
teapotPacket[4] = FIFOBuffer[4];
teapotPacket[5] = FIFOBuffer[5];
teapotPacket[6] = FIFOBuffer[8];
teapotPacket[7] = FIFOBuffer[9];
teapotPacket[8] = FIFOBuffer[12];
teapotPacket[9] = FIFOBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // PacketCount, loops at 0xFF on purpose
#endif
/* Blink LED to indicate activity */
blinkState = !blinkState;
digitalWrite(LED_BUILTIN, blinkState);
}
}
I knew it long time ago.
