Basic_I2C Example with ESP32

bolderflight / invensense-imu

Arduino and CMake library for communicating with the InvenSense MPU-6500, MPU-9250 and MPU-9255 nine-axis IMUs.

MIT License

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Basic_I2C Example with ESP32 #38

Closed kitteltom closed 3 years ago

kitteltom commented 6 years ago

Hey, I'm trying to use the MPU9250 in combination with an ESP32 Dev Board instead of an Arduino. I already tested the connection with an I2C Scanner and it shows that there is a device connected with address 0x68 (SDA and SCL are Pins 21 and 22 on the ESP32). But when I start the Basic_I2C Example, I always get status = -1 from IMU.begin(). My wiring should be correct. Do you have any idea what the problem is and how I can get this working?

flybrianfly commented 6 years ago

Could it be the same issue as this? https://github.com/bolderflight/BME280/issues/2

I think something might be up with the two wire implementation on ESP32.

flybrianfly commented 6 years ago

Also might be related to: https://github.com/espressif/arduino-esp32/issues/1998

imalipusram commented 6 years ago

I think it's not an ESP-32 bug. The BME280 library at https://github.com/finitespace/BME280 is communicating with the sensor and displaying reasonable data.

flybrianfly commented 6 years ago

That library does not use a repeated start for its I2C communication. Both my MPU-9250 and BME-280 libraries use repeated starts and the ESP-32 bug is about repeated starts. As a test, you could search for 'endTransmission(false)' and replace with 'endTransmission()'. I think it only occurs in the readRegisters method.

kitteltom commented 6 years ago

Thanks for the replies. If I replace 'endTransmission(false)', the I2C communication works. I also managed to get it working with SPI.

But I have to comment out several parts of the begin function to get it working:

the whoAmI byte is 112 instead of 113, so I get status = -5 if I don't comment this out
the whoAmIAK8963 byte is 0, so the begin function returns status = -14
and I also get status -16, -18 and -20, which means I don't get values from the magnetometer and I can't calibrate the gyro.

Is this also a ESP32 related problem?

flybrianfly commented 6 years ago

No, this is a problem with your sensor - the WHO AM I value that you're reporting indicates that your sensor is a MPU-6500, not an MPU-9250. Which means it does not have a magnetometer (why my code is reporting a magnetometer WHO AM I of 0 and is unable to communicate with it).

Celppu commented 5 years ago

'endTransmission(false)' must be changed to 'endTransmission()' for esp32 !! I had to only change that to get it working on esp32. Before I got error -1 . Row 1025 on MPU9250.cpp .

sam17012k1 commented 3 years ago

Thanks for the replies. If I replace 'endTransmission(false)', the I2C communication works. I also managed to get it working with SPI.

But I have to comment out several parts of the begin function to get it working:

the whoAmI byte is 112 instead of 113, so I get status = -5 if I don't comment this out

the whoAmIAK8963 byte is 0, so the begin function returns status = -14

and I also get status -16, -18 and -20, which means I don't get values from the magnetometer and I can't calibrate the gyro.

Is this also a ESP32 related problem?

Hi i am also facing the same issue, Could you please describe in detail with what helped you solve this

flybrianfly commented 3 years ago

Replace endTransmission(false) with endTransmission() throughout the code.