ESP32 Arduino MPU6050笔记

i2cdevlib只支持arduino nano等系列芯片，以及esp8266，但不支持esp32

1、只获取原始数据的话：

#include
#define SDA 4
#define SCL 15

const int MPU_addr=0x68; // I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

void setup()
{
	Wire.begin(SDA, SCL);
	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);
	Serial.begin(9600);
}

void loop()
{
	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)
	Serial.print("AcX = "); Serial.print(AcX);
	Serial.print(" | AcY = "); Serial.print(AcY);
	Serial.print(" | AcZ = "); Serial.print(AcZ);
	Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet
	Serial.print(" | GyX = "); Serial.print(GyX);
	Serial.print(" | GyY = "); Serial.print(GyY);
	Serial.print(" | GyZ = "); Serial.println(GyZ);
	delay(333);
}

2、需要获取dmp数据，在管理库中检索mpu6050，安装MPU6050_tockn，对应github地址：

https://github.com/tockn/MPU6050_tockn

注意，修改引脚号：

Wire.begin(21, 22);//SDA SDL for esp32