looking at old code I did get some results from MPU6500 and MPU6050 on an ESP32
MPU6500 code
// File>Examples>Bolder_Flight_Systems_InvenSense_IMU>Arduino>impu6500>i2c
/*
* Brian R Taylor
* brian.taylor@bolderflight.com
*
* Copyright (c) 2021 Bolder Flight Systems Inc
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the “Software”), to
* deal in the Software without restriction, including without limitation the
* rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
* sell copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
* IN THE SOFTWARE.
*/
#include "mpu6500.h"
/* Mpu6500 object */
bfs::Mpu6500 imu;
void setup() {
/* Serial to display data */
Serial.begin(115200);
while(!Serial) {}
/* Start the I2C bus */
Wire.begin();
Wire.setClock(400000);
/* I2C bus, 0x68 address */
imu.Config(&Wire, bfs::Mpu6500::I2C_ADDR_PRIM);
/* Initialize and configure IMU */
if (!imu.Begin()) {
Serial.println("Error initializing communication with IMU");
while(1) {}
}
/* Set the sample rate divider */
if (!imu.ConfigSrd(19)) {
Serial.println("Error configured SRD");
while(1) {}
}
}
void loop() {
/* Check if data read */
if (imu.Read()) {
Serial.print(imu.new_imu_data());
Serial.print("\t");
Serial.print(imu.accel_x_mps2());
Serial.print("\t");
Serial.print(imu.accel_y_mps2());
Serial.print("\t");
Serial.print(imu.accel_z_mps2());
Serial.print("\t");
Serial.print(imu.gyro_x_radps());
Serial.print("\t");
Serial.print(imu.gyro_y_radps());
Serial.print("\t");
Serial.print(imu.gyro_z_radps());
Serial.print("\t");
Serial.print(imu.die_temp_c());
Serial.print("\n");
delay(1000);
}
}
serial monitor output
1 -6.94 -25.42 2.60 -0.01 -0.02 0.02 119.04
1 -6.24 -23.77 3.10 -0.02 -0.02 0.02 119.04
1 -4.73 -24.69 3.23 -0.02 -0.02 0.01 119.04
1 -4.73 -24.74 3.17 -0.01 -0.02 0.02 119.04
1 -4.75 -24.78 3.24 -0.02 -0.02 0.01 119.04
1 -4.65 -24.72 3.18 -0.01 -0.02 0.02 119.04
1 -8.50 -31.06 1.55 -0.02 -0.02 0.02 119.04
1 -13.48 -21.20 1.64 -0.02 -0.02 0.02 119.04
1 -15.46 -18.48 -0.96 -0.02 -0.02 0.02 119.04
1 -10.50 -11.50 -2.30 -0.02 -0.02 0.02 119.04
1 0.95 -10.57 3.42 -0.02 -0.02 0.02 119.04
1 0.25 -34.97 -3.89 -0.02 -0.02 0.01 119.04
1 -1.47 -32.12 -5.63 -0.01 -0.02 0.02 119.04
MPU60050 code
// ESP32 Basic demo for accelerometer readings from Adafruit MPU6050
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
Adafruit_MPU6050 mpu;
void setup(void) {
Serial.begin(115200);
while (!Serial)
delay(10); // will pause Zero, Leonardo, etc until serial console opens
Serial.println("Adafruit MPU6050 test!");
Wire.begin();
// Try to initialize!
if (!mpu.begin(0x68)) {
Serial.println("Failed to find MPU6050 chip");
while (1) {
delay(10);
}
}
Serial.println("MPU6050 Found!");
mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
Serial.print("Accelerometer range set to: ");
switch (mpu.getAccelerometerRange()) {
case MPU6050_RANGE_2_G:
Serial.println("+-2G");
break;
case MPU6050_RANGE_4_G:
Serial.println("+-4G");
break;
case MPU6050_RANGE_8_G:
Serial.println("+-8G");
break;
case MPU6050_RANGE_16_G:
Serial.println("+-16G");
break;
}
mpu.setGyroRange(MPU6050_RANGE_500_DEG);
Serial.print("Gyro range set to: ");
switch (mpu.getGyroRange()) {
case MPU6050_RANGE_250_DEG:
Serial.println("+- 250 deg/s");
break;
case MPU6050_RANGE_500_DEG:
Serial.println("+- 500 deg/s");
break;
case MPU6050_RANGE_1000_DEG:
Serial.println("+- 1000 deg/s");
break;
case MPU6050_RANGE_2000_DEG:
Serial.println("+- 2000 deg/s");
break;
}
mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
Serial.print("Filter bandwidth set to: ");
switch (mpu.getFilterBandwidth()) {
case MPU6050_BAND_260_HZ:
Serial.println("260 Hz");
break;
case MPU6050_BAND_184_HZ:
Serial.println("184 Hz");
break;
case MPU6050_BAND_94_HZ:
Serial.println("94 Hz");
break;
case MPU6050_BAND_44_HZ:
Serial.println("44 Hz");
break;
case MPU6050_BAND_21_HZ:
Serial.println("21 Hz");
break;
case MPU6050_BAND_10_HZ:
Serial.println("10 Hz");
break;
case MPU6050_BAND_5_HZ:
Serial.println("5 Hz");
break;
}
Serial.println("");
delay(100);
}
void loop() {
/* Get new sensor events with the readings */
sensors_event_t a, g, temp;
mpu.getEvent(&a, &g, &temp);
/* Print out the values */
Serial.print("Acceleration X: ");
Serial.print(a.acceleration.x);
Serial.print(", Y: ");
Serial.print(a.acceleration.y);
Serial.print(", Z: ");
Serial.print(a.acceleration.z);
Serial.println(" m/s^2");
Serial.print("Rotation X: ");
Serial.print(g.gyro.x);
Serial.print(", Y: ");
Serial.print(g.gyro.y);
Serial.print(", Z: ");
Serial.print(g.gyro.z);
Serial.println(" rad/s");
Serial.print("Temperature: ");
Serial.print(temp.temperature);
Serial.println(" degC");
Serial.println("");
delay(5000);
}
Adafruit MPU6050 test!
MPU6050 Found!
Accelerometer range set to: +-8G
Gyro range set to: +- 500 deg/s
Filter bandwidth set to: 21 Hz
Acceleration X: 0.04, Y: 0.39, Z: 8.35 m/s^2
Rotation X: 0.15, Y: 0.03, Z: 0.00 rad/s
Temperature: 22.04 degC
Acceleration X: 0.42, Y: 2.15, Z: 7.68 m/s^2
Rotation X: 0.07, Y: -0.65, Z: -0.07 rad/s
Temperature: 22.16 degC
Acceleration X: -3.13, Y: 4.82, Z: 5.66 m/s^2
Rotation X: -0.51, Y: -0.52, Z: -0.24 rad/s
Temperature: 22.23 degC
Acceleration X: 0.91, Y: -0.04, Z: 9.27 m/s^2
Rotation X: 1.01, Y: 0.07, Z: 0.09 rad/s
Temperature: 22.27 degC
Acceleration X: 0.01, Y: -0.51, Z: 8.30 m/s^2
Rotation X: 0.15, Y: 0.03, Z: 0.01 rad/s
Temperature: 22.31 degC
Acceleration X: 0.03, Y: -0.51, Z: 8.31 m/s^2
Rotation X: 0.15, Y: 0.03, Z: 0.01 rad/s
Temperature: 22.35 degC
Acceleration X: 0.02, Y: -0.51, Z: 8.30 m/s^2
Rotation X: 0.15, Y: 0.03, Z: 0.00 rad/s
Temperature: 22.37 degC
not used the MPU6500 or MPU6050 for any serious work
in an industrial project some time back I used the lsm9ds1 9-axis iNEMO inertial module (IMU)
test using a ESP32
// ESP32 SPI to STEVAL MKI159V1 LSM9DS1 9-axis IMU
// https://www.st.com/en/evaluation-tools/steval-mki159v1.html
/* wiring
LSM9DS1 --------- ESP32
CS_AG -------------GPIO5
CS_M ------------- GPIO17
SDO_AG ----------- GPIO19 VSPI_MISO
SDO_M ------------ GPIO19 (tied to SDO_AG)
SCL -------------- GPIO18 VSPI_CLK
SDA -------------- GPIO23 VSPI_MOSI
VDD -------------- 3.3V
GND -------------- GND
*/
// library https://github.com/sparkfun/LSM9DS1_Breakout
// code File>Examples>SparkFun_LSM9DS1_IMU>LSM9DS1_Basic_SPI.ino
/*****************************************************************
LSM9DS1_Basic_SPI.ino
SFE_LSM9DS1 Library Simple Example Code - SPI Interface
Jim Lindblom @ SparkFun Electronics
Original Creation Date: April 29, 2015
https://github.com/sparkfun/LSM9DS1_Breakout
The LSM9DS1 is a versatile 9DOF sensor. It has a built-in
accelerometer, gyroscope, and magnetometer. Very cool! Plus it
functions over either SPI or I2C.
This Arduino sketch is a demo of the simple side of the
SFE_LSM9DS1 library. It'll demo the following:
* How to create a LSM9DS1 object, using a constructor (global
variables section).
* How to use the begin() function of the LSM9DS1 class.
* How to read the gyroscope, accelerometer, and magnetometer
using the readGryo(), readAccel(), readMag() functions and
the gx, gy, gz, ax, ay, az, mx, my, and mz variables.
* How to calculate actual acceleration, rotation speed,
magnetic field strength using the calcAccel(), calcGyro()
and calcMag() functions.
* How to use the data from the LSM9DS1 to calculate
orientation and heading.
Hardware setup: This example demonstrates how to use the
LSM9DS1 with an SPI interface. The pin-out is as follows:
LSM9DS1 --------- Arduino
CS_AG ------------- 9
CS_M ------------- 10
SDO_AG ----------- 12
SDO_M ------------ 12 (tied to SDO_AG)
SCL -------------- 13
SDA -------------- 11
VDD -------------- 3.3V
GND -------------- GND
The LSM9DS1 has a maximum voltage of 3.6V. Make sure you power it
off the 3.3V rail! Signals going into the LSM9DS1, at least,
should be level shifted down to 3.3V - that's CSG, CSXM,
SCL, and SDA.
Better yet, use a 3.3V Arduino (e.g. the Pro or Pro Mini)!
Development environment specifics:
IDE: Arduino 1.6.3
Hardware Platform: Arduino Pro 3.3V
LSM9DS1 Breakout Version: 1.0
This code is beerware. If you see me (or any other SparkFun
employee) at the local, and you've found our code helpful,
please buy us a round!
Distributed as-is; no warranty is given.
*****************************************************************/
// The SFE_LSM9DS1 library requires both Wire and SPI be
// included BEFORE including the 9DS1 library.
#include <Wire.h>
#include <SPI.h>
#include <SparkFunLSM9DS1.h>
//////////////////////////
// LSM9DS1 Library Init //
//////////////////////////
// Use the LSM9DS1 class to create an object. [imu] can be
// named anything, we'll refer to that throught the sketch.
LSM9DS1 imu;
///////////////////////
// Example SPI Setup //
///////////////////////
// Define the pins used for our SPI chip selects. We're
// using hardware SPI, so other signal pins are set in stone.
#define LSM9DS1_M_CS 17//10 // Can be any digital pin
#define LSM9DS1_AG_CS 5//9 // Can be any other digital pin
////////////////////////////
// Sketch Output Settings //
////////////////////////////
#define PRINT_CALCULATED
//#define PRINT_RAW
#define PRINT_SPEED 1250 // 250 ms between prints
// Earth's magnetic field varies by location. Add or subtract
// a declination to get a more accurate heading. Calculate
// your's here:
// http://www.ngdc.noaa.gov/geomag-web/#declination
#define DECLINATION -8.58 // Declination (degrees) in Boulder, CO.
//Function definitions
void printGyro();
void printAccel();
void printMag();
void printAttitude(float ax, float ay, float az, float mx, float my, float mz);
void setup()
{
Serial.begin(115200);
// imu.beginSPI(), which verifies communication with the IMU
// and turns it on.
if (imu.beginSPI(LSM9DS1_AG_CS, LSM9DS1_M_CS) == false) // note, we need to sent this our CS pins (defined above)
{
Serial.println("Failed to communicate with LSM9DS1.");
Serial.println("Double-check wiring.");
Serial.println("Default settings in this sketch will " \
"work for an out of the box LSM9DS1 " \
"Breakout, but may need to be modified " \
"if the board jumpers are.");
while (1)
;
}
}
void loop()
{
printGyro(); // Print "G: gx, gy, gz"
printAccel(); // Print "A: ax, ay, az"
printMag(); // Print "M: mx, my, mz"
// Print the heading and orientation for fun!
// Call print attitude. The LSM9DS1's magnetometer x and y
// axes are opposite to the accelerometer, so my and mx are
// substituted for each other.
printAttitude(imu.ax, imu.ay, imu.az, -imu.my, -imu.mx, imu.mz);
Serial.println();
delay(PRINT_SPEED);
}
void printGyro()
{
// To read from the gyroscope, you must first call the
// readGyro() function. When this exits, it'll update the
// gx, gy, and gz variables with the most current data.
imu.readGyro();
// Now we can use the gx, gy, and gz variables as we please.
// Either print them as raw ADC values, or calculated in DPS.
Serial.print("G: ");
#ifdef PRINT_CALCULATED
// If you want to print calculated values, you can use the
// calcGyro helper function to convert a raw ADC value to
// DPS. Give the function the value that you want to convert.
Serial.print(imu.calcGyro(imu.gx), 2);
Serial.print(", ");
Serial.print(imu.calcGyro(imu.gy), 2);
Serial.print(", ");
Serial.println(imu.calcGyro(imu.gz), 2);
#elif defined PRINT_RAW
Serial.print(imu.gx);
Serial.print(", ");
Serial.print(imu.gy);
Serial.print(", ");
Serial.println(imu.gz);
#endif
}
void printAccel()
{
// To read from the accelerometer, you must first call the
// readAccel() function. When this exits, it'll update the
// ax, ay, and az variables with the most current data.
imu.readAccel();
// Now we can use the ax, ay, and az variables as we please.
// Either print them as raw ADC values, or calculated in g's.
Serial.print("A: ");
#ifdef PRINT_CALCULATED
// If you want to print calculated values, you can use the
// calcAccel helper function to convert a raw ADC value to
// g's. Give the function the value that you want to convert.
Serial.print(imu.calcAccel(imu.ax), 2);
Serial.print(", ");
Serial.print(imu.calcAccel(imu.ay), 2);
Serial.print(", ");
Serial.println(imu.calcAccel(imu.az), 2);
#elif defined PRINT_RAW
Serial.print(imu.ax);
Serial.print(", ");
Serial.print(imu.ay);
Serial.print(", ");
Serial.println(imu.az);
#endif
}
void printMag()
{
// To read from the magnetometer, you must first call the
// readMag() function. When this exits, it'll update the
// mx, my, and mz variables with the most current data.
imu.readMag();
// Now we can use the mx, my, and mz variables as we please.
// Either print them as raw ADC values, or calculated in Gauss.
Serial.print("M: ");
#ifdef PRINT_CALCULATED
// If you want to print calculated values, you can use the
// calcMag helper function to convert a raw ADC value to
// Gauss. Give the function the value that you want to convert.
Serial.print(imu.calcMag(imu.mx), 2);
Serial.print(", ");
Serial.print(imu.calcMag(imu.my), 2);
Serial.print(", ");
Serial.println(imu.calcMag(imu.mz), 2);
#elif defined PRINT_RAW
Serial.print(imu.mx);
Serial.print(", ");
Serial.print(imu.my);
Serial.print(", ");
Serial.println(imu.mz);
#endif
}
// Calculate pitch, roll, and heading.
// Pitch/roll calculations take from this app note:
// http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1
// Heading calculations taken from this app note:
// http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf
void printAttitude(float ax, float ay, float az, float mx, float my, float mz)
{
float roll = atan2(ay, az);
float pitch = atan2(-ax, sqrt(ay * ay + az * az));
float heading;
if (my == 0)
heading = (mx < 0) ? PI : 0;
else
heading = atan2(mx, my);
heading -= DECLINATION * PI / 180;
if (heading > PI) heading -= (2 * PI);
else if (heading < -PI) heading += (2 * PI);
// Convert everything from radians to degrees:
heading *= 180.0 / PI;
pitch *= 180.0 / PI;
roll *= 180.0 / PI;
Serial.print("Pitch, Roll: ");
Serial.print(pitch, 2);
Serial.print(", ");
Serial.println(roll, 2);
Serial.print("Heading: "); Serial.println(heading, 2);
}
connections
LSM9DS1 --------- ESP32
CS_AG -------------GPIO5
CS_M ------------- GPIO17
SDO_AG ----------- GPIO19 VSPI_MISO
SDO_M ------------ GPIO19 (tied to SDO_AG)
SCL -------------- GPIO18 VSPI_CLK
SDA -------------- GPIO23 VSPI_MOSI
VDD -------------- 3.3V
GND -------------- GND
test output
G: -14.07, -6.37, -6.42
A: 0.04, 0.11, 0.98
M: -0.27, -0.03, -2.03
Pitch, Roll: -2.19, 6.18
Heading: 15.17
G: -15.28, -1.79, 5.76
A: 0.03, 0.18, 0.96
M: -0.26, -0.05, -2.01
Pitch, Roll: -1.76, 10.61
Heading: 19.80
G: 2.08, -2.61, -2.85
A: -0.05, 0.20, 0.99
M: -0.31, -0.04, -2.01
Pitch, Roll: 2.57, 11.19
Heading: 15.96
G: 1.93, -13.53, -9.34
A: -0.14, -0.15, 0.97
M: -0.34, 0.08, -2.07
Pitch, Roll: 7.97, -8.67
Heading: -3.88
G: -6.40, -8.05, 5.09
A: -0.26, -0.65, 0.66
M: -0.40, 0.32, -2.08
Pitch, Roll: 15.44, -44.84
Heading: -30.03
G: 120.19, -53.47, 7.18
A: -0.24, -0.99, 0.17
M: -0.40, 0.51, -1.94
Pitch, Roll: 13.59, -80.27
Heading: -43.79
G: 4.00, 8.12, -2.55
A: -0.12, -0.87, -0.34
M: -0.38, 0.60, -1.69
Pitch, Roll: 7.58, -111.27
Heading: -49.40
G: -1.35, 9.72, -1.72
A: -0.24, -0.54, -1.01
M: -0.38, 0.55, -1.48
Pitch, Roll: 11.80, -151.78
Heading: -46.52
G: 10.31, -7.27, -0.82
A: -0.12, -0.32, -0.98
M: -0.35, 0.46, -1.34
Pitch, Roll: 6.66, -162.12
Heading: -44.44
G: -17.56, 4.85, -25.63
A: -0.17, -0.09, -1.47
M: -0.33, 0.41, -1.31
Pitch, Roll: 6.47, -176.35
Heading: -42.79
G: -9.35, -1.90, -3.95
A: -0.34, -0.14, -0.96
M: -0.48, 0.42, -1.36
Pitch, Roll: 19.10, -171.67
Heading: -32.93
G: -16.29, 24.10, -11.80
A: -0.78, -0.32, -0.62
M: -0.62, 0.41, -1.48
Pitch, Roll: 48.03, -152.36
Heading: -24.61
G: -12.59, 6.97, 1.13
A: -0.96, -0.25, -0.29
M: -0.71, 0.39, -1.67
Pitch, Roll: 68.42, -139.40
Heading: -20.13
G: 21.15, 13.39, -10.01
A: -0.99, -0.28, -0.18
M: -0.70, 0.38, -1.73
Pitch, Roll: 71.22, -122.63
Heading: -19.80
G: -7.24, -61.29, 29.60
A: -0.95, -0.34, -0.44
M: -0.69, 0.39, -1.64
Pitch, Roll: 59.72, -141.91
Heading: -21.14
G: 1.71, -19.76, 0.35
A: -0.47, -0.33, -0.84
M: -0.48, 0.44, -1.40
Pitch, Roll: 27.49, -158.24
Heading: -34.55
G: 3.75, -34.78, 30.00
A: 0.04, -0.23, -0.98
M: -0.28, 0.44, -1.33
Pitch, Roll: -2.21, -166.73
Heading: -48.78
G: -8.76, 29.02, -3.68
A: 0.23, 0.05, -0.92
M: -0.17, 0.30, -1.29
Pitch, Roll: -14.26, 176.93
Heading: -52.52
G: 17.53, -0.90, -0.28
A: -0.10, 0.63, -0.97
M: -0.32, 0.07, -1.26
Pitch, Roll: 4.73, 147.13
Heading: -4.63
G: 28.59, -16.22, -12.28
A: -0.04, 0.93, -0.61
M: -0.30, -0.07, -1.33
Pitch, Roll: 1.85, 123.19
Heading: 21.66
G: 0.91, -7.70, -2.80
A: -0.02, 0.96, -0.34
M: -0.30, -0.15, -1.40
Pitch, Roll: 1.20, 109.45
Heading: 34.91
G: 11.93, -7.62, -4.58
A: -0.06, 0.99, -0.27
M: -0.30, -0.18, -1.45
Pitch, Roll: 3.21, 105.17
Heading: 39.00
G: -117.07, -12.70, -13.09
A: 0.07, 1.08, -0.50
M: -0.26, -0.11, -1.36
Pitch, Roll: -3.23, 114.84
Heading: 31.03
G: -29.99, -14.36, -3.26
A: -0.04, -0.41, -0.89
M: -0.30, 0.46, -1.38
Pitch, Roll: 2.22, -155.20
Heading: -48.89
G: -20.28, 1.67, -9.07
A: -0.08, -0.85, -0.66
M: -0.33, 0.56, -1.58
Pitch, Roll: 4.18, -127.55
Heading: -51.20
G: -25.65, -3.62, -15.29
A: -0.21, -0.99, -0.26
M: -0.41, 0.56, -1.77
Pitch, Roll: 11.78, -104.75
Heading: -45.58
G: 97.54, -9.90, 75.77
A: -0.29, -1.01, -0.10
M: -0.45, 0.52, -1.87
Pitch, Roll: 16.11, -95.74
Heading: -40.84
G: -26.72, -20.28, 28.00
A: -0.18, -0.94, 0.13
M: -0.37, 0.50, -1.93
Pitch, Roll: 10.57, -82.17
Heading: -45.21
G: -21.45, -2.41, -2.25
A: 0.01, -0.89, 0.48
M: -0.28, 0.35, -2.10
Pitch, Roll: -0.58, -61.42
Heading: -42.798.
the lsm9ds1 is now Obsolete replaced with the lsm6dso 6-axis IMU
