// ESP32 with many MPU-6050 sensors
// --------------------------------
// Select a MPU-6050 by changing its I2C address runtime.
//
// 10 April 2024, Version1, Koepel, Public Domain.
// Initial version.
// 2 May 2024, Version 2, Koepel, Public Domain.
// Library MPU6050_light used.
// https://github.com/rfetick/MPU6050_light
//
// This Wokwi project: https://wokwi.com/projects/394777263927329793
//
// A MPU-6050 sensor can have its I2C address at 0x68 or 0x69.
// In this project, only the active sensor is set at 0x68.
// All the other sensors are at 0x69.
//
// Warning 1:
// In real life, this is only possible with a 3.3V board.
// A output pin with 5V output may not be connected
// directly to pin AD0 of the sensor.
//
// Warning 2:
// In real life, there might be too many pullup for
// the I2C bus, because each module has pullup resistors.
//
// Attention:
// Wokwi keeps the settings in the sensor, which are seen
// as a offset when the calibration function runs.
//
#include <Wire.h>
#include <MPU6050_light.h>
// The number of MPU-6050 sensors in this example is 5.
#define NUM_MPUS 5
// Create objects. Each sensor is on the "Wire" I2C bus.
MPU6050 mpu[NUM_MPUS] =
{
MPU6050(Wire),
MPU6050(Wire),
MPU6050(Wire),
MPU6050(Wire),
MPU6050(Wire),
};
// For the AD0 pins of the MPU-6050.
// To select runtime the I2C address.
const int AD0pin[NUM_MPUS] = {16, 17, 18, 19, 23};
const int mpuAddr = 0x68; // I2C address
const int mpuAddr_not_used = 0x69; // not even used in the code.
unsigned long previousMillis;
const unsigned long interval = 1000;
void setup() {
Serial.begin(115200);
Serial.println();
Wire.begin(); // default pins: SDA=21, SCL=22.
for(int i=0; i<NUM_MPUS; i++)
{
pinMode(AD0pin[i],OUTPUT);
digitalWrite(AD0pin[i],HIGH); // default high for 0x69
}
// Initialize all the MPU-6050 sensors.
Serial.println(F("Initializing the sensors and calculating offsets. Do not move MPU-6050 sensors."));
Serial.println(F("Attention: Calculating the offset is good in real life, but it is better to skip this function in Wokwi."));
delay(500);
for(int i=0; i<NUM_MPUS; i++)
{
// Always select the proper sensor first.
SelectMPU(i);
// Run the library initialization function .begin
byte status = mpu[i].begin();
Serial.print(F("Initializing MPU-6050 "));
Serial.print(i);
Serial.print(F(", error = "));
Serial.print(status);
if(status == 0)
Serial.print(F(" (no error)"));
Serial.println();
mpu[i].calcOffsets(true,true); // gyro and accelometer
}
Serial.println("Initialization done");
// A message to click on a sensor to change
// the settings when running in Wokwi.
Serial.println("Click on a MPU-6050 module and change the acceleration and gyro.");
// The setup() took so long,
// set previousMillis to a fresh value.
previousMillis = millis();
}
void loop()
{
unsigned long currentMillis = millis();
// Update, this keeps the library going
for(int i=0; i<NUM_MPUS; i++)
{
SelectMPU(i);
mpu[i].update();
}
if(currentMillis - previousMillis >= interval)
{
previousMillis = currentMillis;
for(int i=0; i<NUM_MPUS; i++)
{
SelectMPU(i);
Serial.print(i);
Serial.print(":");
Serial.print(F("T="));
Serial.print(mpu[i].getTemp(),0);
Serial.print(F(",ACC="));
Serial.print(mpu[i].getAccX());
Serial.print(",");
Serial.print(mpu[i].getAccY());
Serial.print(",");
Serial.print(mpu[i].getAccZ());
Serial.print(F(",GYRO="));
Serial.print(mpu[i].getGyroX(),0);
Serial.print(",");
Serial.print(mpu[i].getGyroY(),0);
Serial.print(",");
Serial.print(mpu[i].getGyroZ(),0);
Serial.print(F(",ACC ANGLE="));
Serial.print(mpu[i].getAccAngleX(),0);
Serial.print(",");
Serial.print(mpu[i].getAccAngleY(),0);
Serial.print(F(",ANGLE="));
Serial.print(mpu[i].getAngleX(),0);
Serial.print(",");
Serial.print(mpu[i].getAngleY(),0);
Serial.print(",");
Serial.print(mpu[i].getAngleZ(),0);
Serial.println();
}
Serial.println(F("======================================================================================\n"));
}
}
// Choose a MPU, parameter starts at zero for the first sensor.
// AD0 = high, I2C address = 0x69, not selected
// AD0 = low, I2C address = 0x68, selected
void SelectMPU(int selection)
{
for(int i=0; i<NUM_MPUS; i++)
{
if(i == selection)
digitalWrite(AD0pin[i],LOW); // selected, 0x68
else
digitalWrite(AD0pin[i],HIGH); // not selected, 0x69
}
}
esp:0
esp:2
esp:4
esp:5
esp:12
esp:13
esp:14
esp:15
esp:16
esp:17
esp:18
esp:19
esp:21
esp:22
esp:23
esp:25
esp:26
esp:27
esp:32
esp:33
esp:34
esp:35
esp:3V3
esp:EN
esp:VP
esp:VN
esp:GND.1
esp:D2
esp:D3
esp:CMD
esp:5V
esp:GND.2
esp:TX
esp:RX
esp:GND.3
esp:D1
esp:D0
esp:CLK
imu1:INT
imu1:AD0
imu1:XCL
imu1:XDA
imu1:SDA
imu1:SCL
imu1:GND
imu1:VCC
imu2:INT
imu2:AD0
imu2:XCL
imu2:XDA
imu2:SDA
imu2:SCL
imu2:GND
imu2:VCC
imu3:INT
imu3:AD0
imu3:XCL
imu3:XDA
imu3:SDA
imu3:SCL
imu3:GND
imu3:VCC
r1:1
r1:2
r2:1
r2:2
MPU 0
MPU 1
MPU 2
imu4:INT
imu4:AD0
imu4:XCL
imu4:XDA
imu4:SDA
imu4:SCL
imu4:GND
imu4:VCC
MPU 3
imu5:INT
imu5:AD0
imu5:XCL
imu5:XDA
imu5:SDA
imu5:SCL
imu5:GND
imu5:VCC
MPU 4