MPU6050_esp8266

MPU6050_esp8266.ino

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

const int MPU_addr = 0x68; // I2C address of the MPU-6050
int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;
float ax = 0, ay = 0, az = 0, gx = 0, gy = 0, gz = 0, Amp=0;

// SCL -> D1
// SDA -> D2

void setup()
{
  Serial.begin(115200);
  Wire.begin();
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x6B);  // PWR_MGMT_1 register
  Wire.write(0);     // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);
}

void loop(){
  // create an array to store sampling data for inferencing
  // 19Hz * 5 sec -> 95 samples, for 7 axis input
  float buffer[95][7];

  // fill data into the buffer
  for (int i=0; i<=95; i++){
    mpu_read();

    buffer[i][0] = ax;
    buffer[i][1] = ay;
    buffer[i][2] = az;
    buffer[i][3] = gx;
    buffer[i][4] = gy;
    buffer[i][5] = gz;
    buffer[i][6] = Amp;

    Serial.print(ax);
    Serial.print(",");
    Serial.print(ay);
    Serial.print(",");
    Serial.print(az);
    Serial.print(",");
    Serial.print(gx);
    Serial.print(",");
    Serial.print(gy);
    Serial.print(",");
    Serial.print(gz);
    Serial.print(",");
    Serial.println(Amp);
    
    delay(50); // to maintain the 19Hz frequency
  }

}


void mpu_read(){
  // read sensor data
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr, 14, true); // request a total of 14 registers
  AcX = Wire.read() << 8 | Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
  AcY = Wire.read() << 8 | Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ = Wire.read() << 8 | Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp = Wire.read() << 8 | Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
  GyX = Wire.read() << 8 | Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY = Wire.read() << 8 | Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ = Wire.read() << 8 | Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)

  // scale the readings
  ax = (AcX - 2050) / 16384.00;
  ay = (AcY - 77) / 16384.00;
  az = (AcZ - 1947) / 16384.00;
  gx = (GyX + 270) / 131.07;
  gy = (GyY - 351) / 131.07;
  gz = (GyZ + 136) / 131.07;

  // calculating Amplitute vactor for 3 axis
  float Raw_Amp = pow(pow(ax, 2) + pow(ay, 2) + pow(az, 2), 0.5);
  Amp = Raw_Amp * 10;  // Mulitiplied by 10 bcz values are between 0 to 1
}