MPU6050 arduino ide with ESP32

Projects General Guidance
1

ok everyone, my trouble is that i have 2 sketches to read my mpu6050, both work except one does not give the temperature as it should and the other sketch the temperature is displayed

so this first sketch is the one the temperature not working, refer to mpu6050_ino image for serial monitor screen shot

#define STATUS_PIN                      2

#define MPU_POWER_REG                   0x6B
#define MPU_POWER_CYCLE                 0b00000000
#define MPU_READ_TIMEOUT                2000
#define MPU_SAMP_FREQ                   250

#define MPU_GYRO_CFG_REG                0x1B
#define MPU_GYRO_READ_REG               0x43
#define MPU_GYRO_READ_REG_SIZE          6
#define MPU_GYRO_CFG_250DEG             0b00000000
#define MPU_GYRO_READINGSCALE_250DEG    131.0
#define MPU_GYRO_CFG_500DEG             0b00001000
#define MPU_GYRO_READINGSCALE_500DEG    65.5
#define MPU_GYRO_CFG_1000DEG            0b00010000
#define MPU_GYRO_READINGSCALE_1000DEG   32.8
#define MPU_GYRO_CFG_2000DEG            0b00011000
#define MPU_GYRO_READINGSCALE_2000DEG   16.4
#define MPU_CALIBRATE_READING_NUM       2000

#define MPU_TEMP_READ_REG               0x41
#define MPU_TEMP_READ_REG_SIZE          2

#define MPU_ACCEL_CFG_REG               0x1C
#define MPU_ACCEL_READ_REG              0x3B
#define MPU_ACCEL_READ_REG_SIZE         6
#define MPU_ACCEL_CFG_2G                0b00000000
#define MPU_ACCEL_READINGSCALE_2G       16384.0
#define MPU_ACCEL_CFG_4G                0b00001000
#define MPU_ACCEL_READINGSCALE_4G       8192.0
#define MPU_ACCEL_CFG_8G                0b00010000
#define MPU_ACCEL_READINGSCALE_8G       4096.0
#define MPU_ACCEL_CFG_16G               0b00011000
#define MPU_ACCEL_READINGSCALE_16G      2048.0

#define MPU1_I2C_ADDRESS                0b1101000
#define MPU2_I2C_ADDRESS                0b1101001

#include <Wire.h>

float gForceX, gForceY, gForceZ;
float rotX, rotY, rotZ;
float calibX, calibY, calibZ;
//float pitch, roll, yaw;
float mpuTemp;
long loopTimer = 0;

void setup() {
  Serial.begin(115200);
  pinMode(STATUS_PIN,OUTPUT);
  digitalWrite(STATUS_PIN, LOW);
  Wire.begin();
  SetupMPU();
  delay(3000);
  calibrateGyro();
  Serial.println("setup complete.");
}

void SetupMPU()
{
  Wire.beginTransmission(MPU1_I2C_ADDRESS);
  Wire.write(MPU_POWER_REG);
  Wire.write(MPU_POWER_CYCLE); 
  Wire.endTransmission();
  Wire.beginTransmission(MPU1_I2C_ADDRESS);
  Wire.write(MPU_GYRO_CFG_REG);
  Wire.write(MPU_GYRO_CFG_250DEG); 
  Wire.endTransmission();
  Wire.beginTransmission(MPU1_I2C_ADDRESS);
  Wire.write(MPU_ACCEL_CFG_REG);
  Wire.write(MPU_ACCEL_CFG_2G); 
  Wire.endTransmission();
}

void loop() {
  if(ReadMPU())
  {                          
    while(micros() - loopTimer < 4000);
    loopTimer = micros();
  }
}

bool ReadMPU()
{
  if(MPUReadAccel() && MPUReadGyro())
  {
//    calcRotation();
    printData();
    return true;
  }
  return false;
}

bool MPUReadAccel()
{
  Wire.beginTransmission(MPU1_I2C_ADDRESS);
  Wire.write(MPU_ACCEL_READ_REG);
  Wire.endTransmission();
  Wire.requestFrom(MPU1_I2C_ADDRESS, MPU_ACCEL_READ_REG_SIZE);
  long timeout = millis() + MPU_READ_TIMEOUT;
  while(Wire.available() < MPU_ACCEL_READ_REG_SIZE && timeout < millis());
  if (timeout <= millis()) return false;
  gForceX = (long)(Wire.read() << 8 | Wire.read()) / MPU_ACCEL_READINGSCALE_2G;
  gForceY = (long)(Wire.read() << 8 | Wire.read()) / MPU_ACCEL_READINGSCALE_2G;
  gForceZ = (long)(Wire.read() << 8 | Wire.read()) / MPU_ACCEL_READINGSCALE_2G;
  return true;
}

bool MPUReadTemp()
{
  Wire.beginTransmission(MPU1_I2C_ADDRESS);
  Wire.write(MPU_TEMP_READ_REG);
  Wire.endTransmission();
  Wire.requestFrom(MPU1_I2C_ADDRESS, MPU_TEMP_READ_REG_SIZE);
  long timeout = millis() + MPU_READ_TIMEOUT;
  while(Wire.available() < MPU_TEMP_READ_REG_SIZE && timeout < millis());
  if (timeout <= millis()) return false;
  mpuTemp = (long)(Wire.read() << 8 | Wire.read())/340 + 36.53;
  return true;
}

bool MPUReadGyro()
{
  Wire.beginTransmission(MPU1_I2C_ADDRESS);
  Wire.write(MPU_GYRO_READ_REG);
  Wire.endTransmission();
  Wire.requestFrom(MPU1_I2C_ADDRESS, MPU_GYRO_READ_REG_SIZE);
  long timeout = millis() + MPU_READ_TIMEOUT;
  while(Wire.available() < MPU_ACCEL_READ_REG_SIZE && timeout < millis());
  if (timeout <= millis()) return false;
  rotX = (long)(Wire.read() << 8 | Wire.read()) / MPU_GYRO_READINGSCALE_250DEG;
  rotY = (long)(Wire.read() << 8 | Wire.read()) / MPU_GYRO_READINGSCALE_250DEG;
  rotZ = (long)(Wire.read() << 8 | Wire.read()) / MPU_GYRO_READINGSCALE_250DEG;
  
  return true;
}

void calibrateGyro()
{
  loopTimer = 0;
  
  digitalWrite(STATUS_PIN, HIGH);
  Serial.println("Calibrating Gyro");
  
  calibX = 0;
  calibY = 0;
  calibZ = 0;
  
  
  for(int i=0; i<MPU_CALIBRATE_READING_NUM;i++)
  {
    if(MPUReadGyro())
    {
      calibX += rotX;
      calibY += rotY;
      calibZ += rotZ;

      //wait for the next sample cycle
      while(micros() - loopTimer < 4000);
      loopTimer = micros();
    }
    else
    {
      i--;
    }
  }
  calibX = calibX / MPU_CALIBRATE_READING_NUM;
  calibY = calibY / MPU_CALIBRATE_READING_NUM;
  calibZ = calibZ / MPU_CALIBRATE_READING_NUM;

  Serial.print("x: ");
  Serial.print(calibX);
  Serial.print("y: ");
  Serial.print(calibY);
  Serial.print("z: ");
  Serial.println(calibZ);

  Serial.println("Calibration Done.");
  
  digitalWrite(STATUS_PIN, LOW);
}

//void calcRotation()
//{
//  pitch += (rotX - calibX) * (1/(MPU_SAMP_FREQ/MPU_GYRO_READINGSCALE_250DEG));
//  roll += (rotY - calibY) * (1/(MPU_SAMP_FREQ/MPU_GYRO_READINGSCALE_250DEG));
//  yaw += (rotZ - calibZ) * (1/(MPU_SAMP_FREQ/MPU_GYRO_READINGSCALE_250DEG));
//}

void printData() 
{
  Serial.print("Temp (deg c) ");
  Serial.print(mpuTemp);
  Serial.print(" Gyro (deg/s)");
  Serial.print(" X=");
  Serial.print(rotX - calibX);
  Serial.print(" Y=");
  Serial.print(rotY - calibY);
  Serial.print(" Z=");
  Serial.print(rotZ - calibZ);
  Serial.print(" Accel (g)");
  Serial.print(" X=");
  Serial.print(gForceX);
  Serial.print(" Y=");
  Serial.print(gForceY);
  Serial.print(" Z=");
  Serial.println(gForceZ);
//  Serial.print(" RT:");
//  Serial.print(" Roll:");
//  Serial.print(roll);
//  Serial.print(" Pitch:");
//  Serial.print(pitch);
//  Serial.print(" Yaw:");
//  Serial.println(yaw);
  
}

not sure why one works and the other does not as far as temperature goes??

mpu6050_ino.png
mpu6050_ino.png1360×768 181 KB

2

Did you write both sketches, i.e., are they different versions of the same program, or completely different programs written by different people?

3

sorry for the delay, but no i did not write any of the code the first sketch is from "Mikey's Lab" called "Interfacing a MPU-6050 with an Arduino!" on youtube and the second sketch below is from "SmartTronics" from the Arduino Project Hub

#include "Wire.h" // This library allows you to communicate with I2C devices.
const int MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.
int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data
int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data
int16_t temperature; // variables for temperature data
char tmp_str[7]; // temporary variable used in convert function
char* convert_int16_to_str(int16_t i) { // converts int16 to string. Moreover, resulting strings will have the same length in the debug monitor.
  sprintf(tmp_str, "%6d", i);
  return tmp_str;
}
void setup() {
  Serial.begin(115200);
  Wire.begin();
  Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)
  Wire.write(0x6B); // PWR_MGMT_1 register
  Wire.write(0); // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);
}
void loop() {
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]
  Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.
  Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers
  
  // "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable
  accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
  accelerometer_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
  accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)
  temperature = Wire.read()<<8 | Wire.read(); // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
  gyro_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
  gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
  gyro_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
  
  // print out data
  Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));
  Serial.print(" | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
  Serial.print(" | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
  // the following equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description, p.30]
  Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);
  Serial.print(" | gX = "); Serial.print(convert_int16_to_str(gyro_x));
  Serial.print(" | gY = "); Serial.print(convert_int16_to_str(gyro_y));
  Serial.print(" | gZ = "); Serial.print(convert_int16_to_str(gyro_z));
  Serial.println();
  
  // delay
  delay(1000);
}

other_mpu6050.png
other_mpu6050.png1360×768 131 KB

4

a little history on my project, the bot i am building had started out as as balancing bot ... i managed to build the bot but it was a very basic and boring bot, long story short the balancing bot turned into a 4 wheel ground bot do to its size and weight. Anyway lots of stuff going on with the bot and still more to add(but on the next one)... i know that the mpu6050 i am using has the built-in temperature sensor and that it works. I ran both sketches from the same ESP32 and using the same MPU6050

I am not looking for a "fix it for me" solution, i would like to understand what is wrong in the sketch if something is wrong or if it is just "user error"

I found both sketches looking for good examples on how to code my mpu6050 without using a library, as i am trying to learn how to code. Aside from learning i also switched to an ESP32 instead of the Arduino Nano i was using, but still using the Arduino IDE, also why i chose not to use the mpu6050 library i have installed, it did not like the ESP32.

well thanks for any thoughts or ideas on my problem with the temperature

5

tinkerinman:
sorry for the delay, but no i did not write any of the code the first sketch is from "Mikey's Lab" called "Interfacing a MPU-6050 with an Arduino!" on youtube and the second sketch below is from "SmartTronics" from the Arduino Project Hub

#include "Wire.h" // This library allows you to communicate with I2C devices.

const int MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.
int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data
int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data
int16_t temperature; // variables for temperature data
char tmp_str[7]; // temporary variable used in convert function
char* convert_int16_to_str(int16_t i) { // converts int16 to string. Moreover, resulting strings will have the same length in the debug monitor.
 sprintf(tmp_str, "%6d", i);
 return tmp_str;
}
void setup() {
 Serial.begin(115200);
 Wire.begin();
 Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)
 Wire.write(0x6B); // PWR_MGMT_1 register
 Wire.write(0); // set to zero (wakes up the MPU-6050)
 Wire.endTransmission(true);
}
void loop() {
 Wire.beginTransmission(MPU_ADDR);
 Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]
 Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.
 Wire.requestFrom(MPU_ADDR, 72, true); // request a total of 72=14 registers
 
 // "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable
 accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
 accelerometer_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
 accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)
 temperature = Wire.read()<<8 | Wire.read(); // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
 gyro_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
 gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
 gyro_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
 
 // print out data
 Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));
 Serial.print(" | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
 Serial.print(" | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
 // the following equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description, p.30]
 Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);
 Serial.print(" | gX = "); Serial.print(convert_int16_to_str(gyro_x));
 Serial.print(" | gY = "); Serial.print(convert_int16_to_str(gyro_y));
 Serial.print(" | gZ = "); Serial.print(convert_int16_to_str(gyro_z));
 Serial.println();
 
 // delay
 delay(1000);
}

so it seems this sketch above is the same as this person's below, so hopefully the right person receives their due credit.
as a new person to all this i can clearly see the work involved takes time so thanks to all of you who do the coding for real. As for my original question about the temperature, it is user error and i am now taking a deeper dive into understanding how to configure the registers of the mpu6050, have no clue how to use the info from the datasheet.

// (c) Michael Schoeffler 2017, http://www.mschoeffler.de

#include "Wire.h" // This library allows you to communicate with I2C devices.

const int MPU_ADDR = 0x68; // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.

int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data
int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data
int16_t temperature; // variables for temperature data

char tmp_str[7]; // temporary variable used in convert function

char* convert_int16_to_str(int16_t i) { // converts int16 to string. Moreover, resulting strings will have the same length in the debug monitor.
  sprintf(tmp_str, "%6d", i);
  return tmp_str;
}

void setup() {
  Serial.begin(9600);
  Wire.begin();
  Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)
  Wire.write(0x6B); // PWR_MGMT_1 register
  Wire.write(0); // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);
}
void loop() {
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]
  Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.
  Wire.requestFrom(MPU_ADDR, 7*2, true); // request a total of 7*2=14 registers
  
  // "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable
  accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
  accelerometer_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
  accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)
  temperature = Wire.read()<<8 | Wire.read(); // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
  gyro_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
  gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
  gyro_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
  
  // print out data
  Serial.print("aX = "); Serial.print(convert_int16_to_str(accelerometer_x));
  Serial.print(" | aY = "); Serial.print(convert_int16_to_str(accelerometer_y));
  Serial.print(" | aZ = "); Serial.print(convert_int16_to_str(accelerometer_z));
  // the following equation was taken from the documentation [MPU-6000/MPU-6050 Register Map and Description, p.30]
  Serial.print(" | tmp = "); Serial.print(temperature/340.00+36.53);
  Serial.print(" | gX = "); Serial.print(convert_int16_to_str(gyro_x));
  Serial.print(" | gY = "); Serial.print(convert_int16_to_str(gyro_y));
  Serial.print(" | gZ = "); Serial.print(convert_int16_to_str(gyro_z));
  Serial.println();
  
  // delay
  delay(1000);
}