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ESP32 espressif IoT development framework (esp-idf) compatible component for InvenSense MPU6050 6-axis motion tracking I2C sensor.
readme
# InvenSense MPU6050 Sensor
[](/LICENSE)
[](https://visualstudio.microsoft.com)
[](https://platformio.org/)
[](https://registry.platformio.org/libraries/k0i05/esp_mpu6050)
[](https://components.espressif.com/components/k0i05/esp_mpu6050)
This ESP32 espressif IoT development framework (esp-idf) i2c peripheral driver was developed for the InvenSense MPU6050 6-axis motion tracking sensor. Information on features and functionality are documented and can be found in the `mpu6050.h` header file and in the `documentation` folder.
## Repository
The component is hosted on github and is located here: <https://github.com/K0I05/ESP32-S3_ESP-IDF_COMPONENTS/tree/main/components/peripherals/i2c/esp_mpu6050>
## General Usage
To get started, simply copy the component to your project's `components` folder and reference the `mpu6050.h` header file as an include. The component includes documentation for the peripheral such as the datasheet, application notes, and/or user manual where applicable.
```text
components
└── esp_mpu6050
├── CMakeLists.txt
├── README.md
├── LICENSE
├── idf_component.yml
├── library.json
├── documentation
│ └── datasheets, etc.
├── include
│ └── mpu6050_version.h
│ └── mpu6050.h
└── mpu6050.c
```
## Basic Example
Once a driver instance is instantiated the sensor is ready for usage as shown in the below example. This basic implementation of the driver utilizes default configuration settings and makes a measurement request from the sensor at user defined interval and prints the results.
```c
#include <mpu6050.h>
void i2c0_mpu6050_task( void *pvParameters ) {
// initialize the xLastWakeTime variable with the current time.
TickType_t last_wake_time = xTaskGetTickCount ();
//
// initialize i2c device configuration
mpu6050_config_t dev_cfg = I2C_MPU6050_CONFIG_DEFAULT;
mpu6050_handle_t dev_hdl;
//
// init device
mpu6050_init(i2c0_bus_hdl, &dev_cfg, &dev_hdl);
if (dev_hdl == NULL) {
ESP_LOGE(APP_TAG, "mpu6050 handle init failed");
assert(dev_hdl);
}
uint8_t sample_rate_divider_reg;
mpu6050_config_register_t config_reg;
mpu6050_gyro_config_register_t gyro_config_reg;
mpu6050_accel_config_register_t accel_config_reg;
mpu6050_interrupt_enable_register_t irq_enable_reg;
mpu6050_power_management1_register_t power_management1_reg;
mpu6050_power_management2_register_t power_management2_reg;
mpu6050_who_am_i_register_t who_am_i_reg;
/* attempt to read device sample rate divider register */
mpu6050_get_sample_rate_divider_register(dev_hdl, &sample_rate_divider_reg);
/* attempt to read device configuration register */
mpu6050_get_config_register(dev_hdl, &config_reg);
/* attempt to read device gyroscope configuration register */
mpu6050_get_gyro_config_register(dev_hdl, &gyro_config_reg);
/* attempt to read device accelerometer configuration register */
mpu6050_get_accel_config_register(dev_hdl, &accel_config_reg);
/* attempt to read device interrupt enable register */
mpu6050_get_interrupt_enable_register(dev_hdl, &irq_enable_reg);
/* attempt to read device power management 1 register */
mpu6050_get_power_management1_register(dev_hdl, &power_management1_reg);
/* attempt to read device power management 2 register */
mpu6050_get_power_management2_register(dev_hdl, &power_management2_reg);
/* attempt to read device who am i register */
mpu6050_get_who_am_i_register(dev_hdl, &who_am_i_reg);
// show registers
ESP_LOGI(APP_TAG, "Sample Rate Divider Register: 0x%02x (%s)", sample_rate_divider_reg, uint8_to_binary(sample_rate_divider_reg));
ESP_LOGI(APP_TAG, "Configuration Register: 0x%02x (%s)", config_reg.reg, uint8_to_binary(config_reg.reg));
ESP_LOGI(APP_TAG, "Gyroscope Configuration Register: 0x%02x (%s)", gyro_config_reg.reg, uint8_to_binary(gyro_config_reg.reg));
ESP_LOGI(APP_TAG, "Accelerometer Configuration Register: 0x%02x (%s)", accel_config_reg.reg, uint8_to_binary(accel_config_reg.reg));
ESP_LOGI(APP_TAG, "Interrupt Enable Register: 0x%02x (%s)", irq_enable_reg.reg, uint8_to_binary(irq_enable_reg.reg));
ESP_LOGI(APP_TAG, "Power Management 1 Register: 0x%02x (%s)", power_management1_reg.reg, uint8_to_binary(power_management1_reg.reg));
ESP_LOGI(APP_TAG, "Power Management 2 Register: 0x%02x (%s)", power_management2_reg.reg, uint8_to_binary(power_management2_reg.reg));
ESP_LOGI(APP_TAG, "Who am I Register: 0x%02x (%s)", who_am_i_reg.reg, uint8_to_binary(who_am_i_reg.reg));
//
// task loop entry point
for ( ;; ) {
ESP_LOGI(APP_TAG, "######################## MPU6050 - START #########################");
//
// handle sensor
float temperature;
mpu6050_gyro_data_axes_t gyro_data;
mpu6050_accel_data_axes_t accel_data;
esp_err_t result = mpu6050_get_motion(dev_hdl, &gyro_data, &accel_data, &temperature);
if(result != ESP_OK) {
ESP_LOGE(APP_TAG, "mpu6050 device read failed (%s)", esp_err_to_name(result));
} else {
/* pitch and roll */
float pitch = atanf(accel_data.x_axis / sqrtf(powf(accel_data.y_axis, 2.0f) + powf(accel_data.z_axis, 2.0f)));
float roll = atanf(accel_data.y_axis / sqrtf(powf(accel_data.x_axis, 2.0f) + powf(accel_data.z_axis, 2.0f)));
ESP_LOGI(APP_TAG, "Accelerometer X-Axis: %fg", accel_data.x_axis);
ESP_LOGI(APP_TAG, "Accelerometer Y-Axis: %fg", accel_data.y_axis);
ESP_LOGI(APP_TAG, "Accelerometer Z-Axis: %fg", accel_data.z_axis);
ESP_LOGI(APP_TAG, "Gyroscope X-Axis: %f°/sec", gyro_data.x_axis);
ESP_LOGI(APP_TAG, "Gyroscope Y-Axis: %f°/sec", gyro_data.y_axis);
ESP_LOGI(APP_TAG, "Gyroscope Z-Axis: %f°/sec", gyro_data.z_axis);
ESP_LOGI(APP_TAG, "Temperature: %f°C", temperature);
ESP_LOGI(APP_TAG, "Pitch Angle: %f°", pitch);
ESP_LOGI(APP_TAG, "Roll Angle: %f°", roll);
}
//
ESP_LOGI(APP_TAG, "######################## MPU6050 - END ###########################");
//
//
// pause the task per defined wait period
//vTaskDelaySecUntil( &last_wake_time, I2C0_TASK_SAMPLING_RATE / 2 );
vTaskDelaySecUntil( &last_wake_time, 1 );
}
//
// free resources
mpu6050_delete( dev_hdl );
vTaskDelete( NULL );
}
```
Copyright (c) 2024 Eric Gionet (<gionet.c.eric@gmail.com>)
Links
Supports all targets
Maintainer
- Eric Gionet <gionet.c.eric@gmail.com>
License: MIT
To add this component to your project, run:
or
download archive
idf.py add-dependency "k0i05/esp_mpu6050^1.1.7"
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