ESP8266 COMPATIBILITY

[JansZoro]

There is a way to make it works in a ESP8266 Based Dev Board?

Thanks...

[rtek1000]

Hello,
Look this:
[esp8266-sensor-mpu6050]
https://github.com/rondawg369/esp8266-sensor-mpu6050

[tockn]

This code may work.
Could you try it?
I have only ESP32.

#include <MPU6050_tockn.h>
#include <Wire.h>

MPU6050 mpu6050(Wire);

void setup() {
  Serial.begin(9600);
  int SDA = 4;  // you can choose SDA pin
  int SCL = 14;  // you can choose SCL pin
  Wire.begin(SDA, SCL);
  mpu6050.begin();
  mpu6050.calcGyroOffsets(true);
}

void loop() {
  mpu6050.update();
  Serial.print("angleX : ");
  Serial.print(mpu6050.getAngleX());
  Serial.print("\tangleY : ");
  Serial.print(mpu6050.getAngleY());
  Serial.print("\tangleZ : ");
  Serial.println(mpu6050.getAngleZ());
}

[JansZoro]

Thanks @rtek1000, the link you shared to me was too usefull to understand how the MPU6050 works.
And @tockn, I'm going to test it and latter give you a feedback.

[rtek1000]

Hello,

The sensor is very simple, just need to read the datasheet and the other document about the registers map.

These documents are complements, frankly I think they should be just one, as are the datasheet of the pic of the microchip.

https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf

https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf

[JansZoro]

@tockn unfortunately the code doesn't work on NodeMCU dev board V1.0. It Show values like there is no an I2C device connected.

[tockn]

hmm...
My ESP32 works perfectly this code.
Could you check your wiring? (Especially SCL and SDA)

[gnaneshwar1]

/*This code actually works but prints the incrementing the gyroangle values, and goes on incrementing by 0.1 /sec or so

using esp8266 esp 01 module and mpu6050 gy521

please help*/

#include <ESP8266WiFi.h>
#include <MPU6050_tockn.h>
#include <Wire.h>

MPU6050 mpu6050(Wire);

const char* ssid = "TP-LINK_ED27";
const char* password = "19137216";

// Create an instance of the server
// specify the port to listen on as an argument
WiFiServer server(80);

void setup() {
delay(1000);
Wire.begin(0,2);
Serial.begin(115200);
delay(1000);

// Connect to WiFi network
Serial.println();
Serial.println();
Serial.print("Connecting to ");
Serial.println(ssid);

WiFi.mode(WIFI_STA);
WiFi.begin(ssid, password);

while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("");
Serial.println("WiFi connected");

// Start the server
server.begin();
Serial.println("Server started");

// Print the IP address
Serial.println(WiFi.localIP());

delay(5000);

mpu6050.begin();
delay(1000);
mpu6050.calcGyroOffsets(true);

delay(1000);
}

void loop() {
// Check if a client has connected

WiFiClient client = server.available();
if (!client) {
Serial.print("Client not connect");
delay(1000);

return;

}

// Wait until the client sends some data
Serial.println("new client");
while (!client.available()) {
delay(1);
}

mpu6050.update();
client.print(mpu6050.getGyroAngleX());
client.print(",");
client.print(mpu6050.getGyroAngleY());
client.print(",");
client.println(mpu6050.getGyroAngleZ());
delay(100);

delay(1);

Serial.println("Client disonnected");

// The client will actually be disconnected
// when the function returns and 'client' object is detroyed
}

[Catochi]

Had the same issue. Fixed it by lowering the samples from 3000 to 200. In calcGyroOffsets() in MPU6050_tockn.cpp, you can limit the sampling. The ESP8266 currently has some issues with high value for loops. Hope it helps.

[dzulkiflijoey]

can u show me which one need to be lowering the sample from 3000 to 200??

void MPU6050::calcGyroOffsets(bool console){
float x = 0, y = 0, z = 0;
int16_t rx, ry, rz;

delay(1000);
if(console){
Serial.println();
Serial.println("========================================");
Serial.println("calculate gyro offsets");
Serial.print("DO NOT MOVE A MPU6050");
}
for(int i = 0; i < 3000; i++){
if(console && i % 1000 == 0){
Serial.print(".");
}
wire->beginTransmission(MPU6050_ADDR);
wire->write(0x3B);
wire->endTransmission(false);
wire->requestFrom((int)MPU6050_ADDR, 14, (int)true);

	wire->read() << 8 | wire->read();
	wire->read() << 8 | wire->read();
	wire->read() << 8 | wire->read();
	wire->read() << 8 | wire->read();
	rx = wire->read() << 8 | wire->read();
	ry = wire->read() << 8 | wire->read();
	rz = wire->read() << 8 | wire->read();

	x += ((float)rx) / 65.5;
	y += ((float)ry) / 65.5;
	z += ((float)rz) / 65.5;
}
gyroXoffset = x / 3000;
gyroYoffset = y / 3000;
gyroZoffset = z / 3000;

if(console){
Serial.println();
	Serial.println("Done!!!");
	Serial.print("X : ");Serial.println(gyroXoffset);
	Serial.print("Y : ");Serial.println(gyroYoffset);
	Serial.print("Z : ");Serial.println(gyroZoffset);
	Serial.println("Program will start after 3 seconds");
Serial.print("========================================");
	delay(3000);
}

}

[Catochi]

use this :

`#include "MPU6050_tockn.h"
#include "Arduino.h"

MPU6050::MPU6050(TwoWire &w){
wire = &w;
accCoef = 0.02f;
gyroCoef = 0.98f;
}

MPU6050::MPU6050(TwoWire &w, float aC, float gC){
wire = &w;
accCoef = aC;
gyroCoef = gC;
}

void MPU6050::begin(){
writeMPU6050(MPU6050_SMPLRT_DIV, 0x00);
writeMPU6050(MPU6050_CONFIG, 0x00);
writeMPU6050(MPU6050_GYRO_CONFIG, 0x08);
writeMPU6050(MPU6050_ACCEL_CONFIG, 0x00);
writeMPU6050(MPU6050_PWR_MGMT_1, 0x01);
this->update();
angleGyroX = 0;
angleGyroY = 0;
angleX = this->getAccAngleX();
angleY = this->getAccAngleY();
preInterval = millis();
}

void MPU6050::writeMPU6050(byte reg, byte data){
wire->beginTransmission(MPU6050_ADDR);
wire->write(reg);
wire->write(data);
wire->endTransmission();
}

byte MPU6050::readMPU6050(byte reg) {
wire->beginTransmission(MPU6050_ADDR);
wire->write(reg);
wire->endTransmission(true);
wire->requestFrom((uint8_t)MPU6050_ADDR, (size_t)2/length/);
byte data = wire->read();
wire->read();
return data;
}

void MPU6050::setGyroOffsets(float x, float y, float z){
gyroXoffset = x;
gyroYoffset = y;
gyroZoffset = z;
}

void MPU6050::calcGyroOffsets(bool console){
float x = 0, y = 0, z = 0;
int16_t rx, ry, rz;

delay(1000);
/if(console){
Serial.println();
Serial.println("========================================");
Serial.println("calculate gyro offsets");
Serial.print("DO NOT MOVE A MPU6050");
}/
for(int i = 0; i < 1200; i++){
if(console && i % 1000 == 0){
Serial.print(".");
}
wire->beginTransmission(MPU6050_ADDR);
wire->write(0x3B);
wire->endTransmission(false);
wire->requestFrom((int)MPU6050_ADDR, 14, (int)true);

	wire->read() << 8 | wire->read();
	wire->read() << 8 | wire->read();
	wire->read() << 8 | wire->read();
	wire->read() << 8 | wire->read();
	rx = wire->read() << 8 | wire->read();
	ry = wire->read() << 8 | wire->read();
	rz = wire->read() << 8 | wire->read();

	x += ((float)rx) / 65.5;
	y += ((float)ry) / 65.5;
	z += ((float)rz) / 65.5;
}
gyroXoffset = x / 1200;
gyroYoffset = y / 1200;
gyroZoffset = z / 1200;

/*if(console){
Serial.println();
	Serial.println("Done!!!");
	Serial.print("X : ");Serial.println(gyroXoffset);
	Serial.print("Y : ");Serial.println(gyroYoffset);
	Serial.print("Z : ");Serial.println(gyroZoffset);
	Serial.println("Program will start after 3 seconds");
Serial.print("========================================");
	delay(3000);
}*/

}

void MPU6050::update(){
wire->beginTransmission(MPU6050_ADDR);
wire->write(0x3B);
wire->endTransmission(false);
wire->requestFrom((int)MPU6050_ADDR, 14, (int)true);

rawAccX = wire->read() << 8 | wire->read();
rawAccY = wire->read() << 8 | wire->read();
rawAccZ = wire->read() << 8 | wire->read();
rawTemp = wire->read() << 8 | wire->read();
rawGyroX = wire->read() << 8 | wire->read();
rawGyroY = wire->read() << 8 | wire->read();
rawGyroZ = wire->read() << 8 | wire->read();

temp = (rawTemp + 12412.0) / 340.0;

accX = ((float)rawAccX) / 16384.0;
accY = ((float)rawAccY) / 16384.0;
accZ = ((float)rawAccZ) / 16384.0;

angleAccX = atan2(accY, accZ + abs(accX)) * 360 / 2.0 / PI;
angleAccY = atan2(accX, accZ + abs(accY)) * 360 / -2.0 / PI;

gyroX = ((float)rawGyroX) / 65.5;
gyroY = ((float)rawGyroY) / 65.5;
gyroZ = ((float)rawGyroZ) / 65.5;

gyroX -= gyroXoffset;
gyroY -= gyroYoffset;
gyroZ -= gyroZoffset;

interval = (millis() - preInterval) * 0.001;

angleGyroX += gyroX * interval;
angleGyroY += gyroY * interval;
angleGyroZ += gyroZ * interval;

angleX = (gyroCoef * (angleX + gyroX * interval)) + (accCoef * angleAccX);
angleY = (gyroCoef * (angleY + gyroY * interval)) + (accCoef * angleAccY);
angleZ = angleGyroZ;

preInterval = millis();

}`

Hopefully it works for you

[netpipe]

https://github.com/netpipe/HappyHands/tree/main/gyroArduino/MPU6050_tockn-swire

https://www.youtube.com/watch?v=Li6GyubiEls