The README.md file says "Adafruit MPU6050 6-DoF Accelerometer and Magnetometer". However, it should be "Adafruit MPU6050 6-DoF Accelerometer and Gyroscope“, as MPU6050 does not have a built-in magnetometer.

• @mainpage Adafruit MPU6050 proximity and ambient light sensor library
• @section intro_sec Introduction
• I2C Driver for the MPU6050 proximity and ambient light sensor library

I don't think MPU6050 is a light sensor ;-)

• Arduino board: ESP32E

• Arduino IDE version: 1.8.19
  LIST REPRO STEPS BELOW
  When i try to add the libary to the Arduio IDE, it throws an error that .h files are not found. The text in the picture is in dutch.

Then i downloaded the sirectory as a zip file, and installed it through the sketch. It told me all was ok , but after compilation igot this message: The first part in dutch tells me unvalid library found. And again, noheaders

Leaving...
Hard resetting via RTS pin...
Ongeldige bibliotheek gevonden in /Users/erikschott/Documents/Arduino/libraries/Adafruit_MPU6050: no headers files (.h) found in /Users/erikschott/Documents/Arduino/libraries/Adafruit_MPU6050

These dependencies are only needed for one of the samples and not for using the actual sensor.
It has nothing to do with graphics or controlling some mono screen.

- [Adafruit GFX Library](https://github.com/adafruit/Adafruit-GFX-Library)
- [Adafruit SSD1306](https://github.com/adafruit/Adafruit_SSD1306)

Hi! Is there any complete example for getting motion detection interrupt using this library? I noticed that someone has already implemented on the pull request but the same guy didn't give us a complete valid example, just a small snippet. I tried to use this snippet but I haven't got success on achieving this detection.

the new version MPU6050 has the different DEVICE_ID

Change the Macro in “Adafruit_MPU6050.h” File:
#define MPU6050_DEVICE_ID 0x68 -> #define MPU6050_DEVICE_ID 0x98
can solve the problem .

I don't think this is the best solution to solve it. so I just put it in Issues.

I try the solution (add code to main.ino):

#ifdefine MPU6050_DEVICE_ID 
#undefine MPU6050_DEVICE_ID 
#define MPU6050_DEVICE_ID 0x98
#endif

but it did not work.

• Arduino board: ESP32
• Arduino IDE version: 1.8.19
• Library version: 2.2.4

I am trying to use the interrupt pin to trigger reads on the MCU when new data is ready, but I was not having any luck. I took a close look at how the library was enabling the pin interrupt and it did not make much sense when comparing to the datasheet.

This library has been around for a while and no issues have addressed this, so maybe I am misunderstanding something.

The interrupt is enabled by setMotionInterrupt():

void Adafruit_MPU6050::setMotionInterrupt(bool active) {
  Adafruit_BusIO_Register int_enable =
      Adafruit_BusIO_Register(i2c_dev, MPU6050_INT_ENABLE, 1);
  Adafruit_BusIO_RegisterBits int_motion =
      Adafruit_BusIO_RegisterBits(&int_enable, 1, 6);
  int_motion.write(active);
}

However, the datasheet shows that the relevant registry bits are the following:

As you can see, the bit 6 does not have any function.

I was interested in having the MPU6050 interrupt (INT) pin latched when new data was available. I changed the function to enable the bit 0 instead of 6 and indeed data started flowing as expected:

void Adafruit_MPU6050::setMotionInterrupt(bool active) {
  Adafruit_BusIO_Register int_enable =
      Adafruit_BusIO_Register(i2c_dev, MPU6050_INT_ENABLE, 1);
  Adafruit_BusIO_RegisterBits int_motion =
      Adafruit_BusIO_RegisterBits(&int_enable, 1, 0);
  int_motion.write(active);
}

I noticed the same issue with the Adafruit_MPU6050::getMotionInterruptStatus() method, which also reads the bit 6, which does not have any function in the datasheet.

This brings me to the motion_detection.ino example: I have no idea how it actually works, as the bit 6 is being evaluated via the getMotionInterruptStatus() method and according to the datasheet nothing should happen. I can only guess this bit might also be toggled, but is not documented as such.

Could someone double check this?

Relevant to this topic: the other thing I want to do is to enable INT_RD_CLEAR bit, in the INT_PIN_CFG register, so any read would clear the latch, set by the available setInterruptPinLatch() method, but this is not exposed by this library. Currently, only reading the INT_STATUS register will clear the latch, which is not needed when you already know new data is available via the INT pin. Indeed, when I enabled this bit, executing getMotionInterruptStatus() became unnecessary.

Multiple calls to begin and subsequently to _init will lead to the code below having a memory leak.

  delay(100);
  
  temp_sensor = new Adafruit_MPU6050_Temp(this);
  accel_sensor = new Adafruit_MPU6050_Accelerometer(this);
  gyro_sensor = new Adafruit_MPU6050_Gyro(this);

fix:

  delay(100);
  delete temp_sensor;
  delete accel_sensor;
  delete gyro_sensor;
  
  temp_sensor = new Adafruit_MPU6050_Temp(this);
  accel_sensor = new Adafruit_MPU6050_Accelerometer(this);
  gyro_sensor = new Adafruit_MPU6050_Gyro(this);

Proof: First Number is heap available and other numbers are acceleration X,Y,Z

00:56:51.542 -> 1199,0.29,0.23,8.37
00:56:53.938 -> 1172,0.26,0.24,8.25
00:56:56.334 -> 1145,0.21,0.27,8.25
00:56:58.760 -> 1118,0.17,0.31,8.18
00:57:01.150 -> 1091,0.26,0.25,8.26
00:57:03.540 -> 1064,0.26,0.33,8.41
00:57:05.946 -> 1037,0.22,0.21,8.01
00:57:08.381 -> 1010,0.28,0.31,8.30
00:57:10.780 -> 983,0.25,0.25,8.31
00:57:13.173 -> 956,0.26,0.29,8.26

Result .. on low memory ECU hangs or resets.

Usecase: Power the MPU6050 by an Arduino pin. This requires reinitialisation (by mpu.begin() after sleep-periode + power-up of MPU6050).

This is written in the header file, and is WRONG:-

#define MPU6050_I2CADDR_DEFAULT 0x68 ///< MPU6050 default i2c address w/ AD0 high

The I2C address is 0x68 when AD0 is LOW
The I2C address is 0x69 when AD0 is HIGH.

This is important, because many people have to change the address to 0x69 (wire AD0 to VCC) in order for the MPU6050 to co-exist with most RTC clock modules, which also use 0x68 I2c (and cannot be changed).

It appears that we can pass the I2C address into the begin() function? This needs to be documented.

You've got a README.md (yay!) except it doesn't tell you anything about how to use the lib (boo!!): Please include basic library usage functions into the README, so we know how to use this from page 1....

original:
#define MPU6050_I2CADDR_DEFAULT
0x68 ///< MPU6050 default i2c address w/ AD0 high
#define MPU6050_DEVICE_ID 0x68 ///< The correct MPU6050_WHO_AM_I value

correct: "w/ AD0 low"

Reference: Product Specification Datasheet Rev.3.4 Page 33 paragraph 9.2 (and after lot of hours debugging by personal experience)
https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf

We try to use two MPU650 in parallel @uno in the same code.
Generally I2C scanner shows both of them with their addresses.

This does not seem to work:

Adafruit_MPU6050 accelgyroIC1(0x68);
Adafruit_MPU6050 accelgyroIC2(0x69);

Any idea what we did wrong?
Thanks

• Arduino board: MPU6050

• Arduino IDE version (found in Arduino -> About Arduino menu): NA - 2.0 or 1.8

• List the steps to reproduce the problem below (if possible attach a sketch or
  copy the sketch code in too):

When you use the ESP32 in Deep Sleep mode, and are using a MPU6050 that is configured to wake the ESP32, the interrupt status bits that are required to be read, will get demolished by the init() call (calling reset()), and the begin() call changes other settings that might not be desirable.

This is due to the fact that the ESP32's return from deep sleep, is very similar to a reset of the chip and many configurations, such as i2c connections, are reset and need to be reconfigured. It is important to be able to read the i2c, without disturbing important data.

An alternative could be to have init() not do anything but to make sure Wire and i2c are setup for the board so that communication can happen between the esp32 and the MPU6050. Then most people would use begin() to continue normal setup. Those who care to preserve the settings they already have, will not call begin(). They would read what they need, and change any settings as needed, without having a call that blanket resets things.

I don't think this is a big change, and I plan to try out those changes myself, to see if it accomplishes my goal. I'm curious what your thoughts are about this.

Building for ESP32 D1 I observe the following:-

C```
:\Users\cnd\Documents\Arduino\libraries\Adafruit_MPU6050\Adafruit_MPU6050.cpp: In member function 'bool Adafruit_MPU6050::enableSleep(bool)':
C:\Users\cnd\Documents\Arduino\libraries\Adafruit_MPU6050\Adafruit_MPU6050.cpp:497:28: error: void value not ignored as it ought to be
return sleep.write(enable);
^
C:\Users\cnd\Documents\Arduino\libraries\Adafruit_MPU6050\Adafruit_MPU6050.cpp: In member function 'bool Adafruit_MPU6050::enableCycle(bool)':
C:\Users\cnd\Documents\Arduino\libraries\Adafruit_MPU6050\Adafruit_MPU6050.cpp:519:28: error: void value not ignored as it ought to be
return cycle.write(enable);
^
C:\Users\cnd\Documents\Arduino\libraries\Adafruit_MPU6050\Adafruit_MPU6050.cpp: In member function 'bool Adafruit_MPU6050::setGyroStandby(bool, bool, bool)':
C:\Users\cnd\Documents\Arduino\libraries\Adafruit_MPU6050\Adafruit_MPU6050.cpp:576:79: error: void value not ignored as it ought to be
return gyro_stdby.write(xAxisStandby << 2 | yAxisStandby << 1 | zAxisStandby);
^
C:\Users\cnd\Documents\Arduino\libraries\Adafruit_MPU6050\Adafruit_MPU6050.cpp: In member function 'bool Adafruit_MPU6050::setAccelerometerStandby(bool, bool, bool)':
C:\Users\cnd\Documents\Arduino\libraries\Adafruit_MPU6050\Adafruit_MPU6050.cpp:603:40: error: void value not ignored as it ought to be
zAxisStandby);
^
C:\Users\cnd\Documents\Arduino\libraries\Adafruit_MPU6050\Adafruit_MPU6050.cpp: In member function 'bool Adafruit_MPU6050::setTemperatureStandby(bool)':
C:\Users\cnd\Documents\Arduino\libraries\Adafruit_MPU6050\Adafruit_MPU6050.cpp:622:28: error: void value not ignored as it ought to be
return temp_stdby.write(1);
^
exit status 1
Error compiling for board ESP32 Dev Module.

MPU6050 suffers from small gyro biases that make it difficult to compute the orientation in the absence of a compass reference.

This application note shows a possible procedure to the problem.

I also found a complete implementation here.

I think a proper integration of these procedures in this library is necessary to make it fully usable.

I'm using a ESP32C3 board, and the program will stop for about 30min, and WDT got trigger.

The same program works fine on ESP8266.

Lines 203/204:

 *    @brief  Class that stores state and functions for interacting with
 *            the MPU6050 I2C Digital Potentiometer

Obviously, the MPU-6050 is not a Digital Potentiometer!

setTemperatureStandby always disables the temperature sensor regardless of the argument's value. The last line of its code (622) always writes a 1 instead of using the argument. So using setTemperatureStandby(false) still disables the sensor.

It might just be a small typo. It seems to be solved by swapping the call in the line 622 for return temp_stdby.write(enable);

In the readme I see that it mentions that the docs are generated with Doxygen and I see the links to learn about Doxygen but where are the actual docs for this project located?

The link to the code of conduct is leading to a broken page. Is there a new link that it should point to?

The current link is this:
https://github.com/adafruit/Adafruit_MPU6050/blob/master/CODE_OF_CONDUCT.md%3E

Is this the correct link?
https://github.com/adafruit/Adafruit_MPU6050/blob/86e65d01e5dc4529d4f8a362f491949c322fb1df/code-of-conduct.md