Hi Kris

I got your board today and hooked it up. Tested with my modified code and it worked fine.

I am attaching two zip files. One with a modified MPU9250 sketch and a second with the associated Processing sketch. You will need the Arduino ESP32 library. I did modify boards.txt file to include your board. Basically its the ESP32 Dev Board with DOUT substituted for DIO. Let me know how it works for you.
FreeIMU_cube_UDP_ES32.zip
MPU9250_MS5637_AHRS.zip

Here is what I added:

esp32t.name=ESP32 Dev Module Onehorse

esp32t.upload.tool=esptool
esp32t.upload.maximum_size=1044464
esp32t.upload.maximum_data_size=294912
esp32t.upload.wait_for_upload_port=true

esp32t.serial.disableDTR=true
esp32t.serial.disableRTS=true

esp32t.build.mcu=esp32
esp32t.build.core=esp32
esp32t.build.variant=esp32
esp32t.build.board=ESP32_DEV_Onehorse

esp32t.build.f_cpu=240000000L
esp32t.build.flash_mode=dout
esp32t.build.flash_size=4MB

esp32t.menu.FlashFreq.80=80MHz
esp32t.menu.FlashFreq.80.build.flash_freq=80m
esp32t.menu.FlashFreq.40=40MHz
esp32t.menu.FlashFreq.40.build.flash_freq=40m

esp32t.menu.UploadSpeed.921600=921600
esp32t.menu.UploadSpeed.921600.upload.speed=921600
esp32t.menu.UploadSpeed.115200=115200
esp32t.menu.UploadSpeed.115200.upload.speed=115200
esp32t.menu.UploadSpeed.256000.windows=256000
esp32t.menu.UploadSpeed.256000.upload.speed=256000
esp32t.menu.UploadSpeed.230400.windows.upload.speed=256000
esp32t.menu.UploadSpeed.230400=230400
esp32t.menu.UploadSpeed.230400.upload.speed=230400
esp32t.menu.UploadSpeed.460800.linux=460800
esp32t.menu.UploadSpeed.460800.macosx=460800
esp32t.menu.UploadSpeed.460800.upload.speed=460800
esp32t.menu.UploadSpeed.512000.windows=512000
esp32t.menu.UploadSpeed.512000.upload.speed=512000

esp32t.menu.DebugLevel.none=None
esp32t.menu.DebugLevel.none.build.code_debug=0
esp32t.menu.DebugLevel.error=Error
esp32t.menu.DebugLevel.error.build.code_debug=1
esp32t.menu.DebugLevel.warn=Warn
esp32t.menu.DebugLevel.warn.build.code_debug=2
esp32t.menu.DebugLevel.info=Info
esp32t.menu.DebugLevel.info.build.code_debug=3
esp32t.menu.DebugLevel.debug=Debug
esp32t.menu.DebugLevel.debug.build.code_debug=4
esp32t.menu.DebugLevel.verbose=Verbose
esp32t.menu.DebugLevel.verbose.build.code_debug=5

Real easy one, I think, will i2c_t3 lib work with the ESP32 or for that matter the ESP8266?

Thanks
Mike

There are two values of pull up resistance(4.7k and 10k) which I have come across in all the issues in your github. I would like to know which is the correct value of pullup reistance on each of SDA, SCL lines when an MPU9250 is connected to ESP32. Also I would like to know if the value of pull up can be a cause of delay/lag in the response of estimated yaw, pitch, roll values.

Hi!

Thanks a lot for your code, I hope you've had many a free beer because of it!

I am trying to use the "MPU9250_MS5637_AHRS.ino" code (minus the MS5637) and can't seem to get any type of meaningful interaction with the AK8963. My WHO_AM_I response for the AK8963 is 0xFF. Granted, I am using a cheaper board, however it looks a lot like the real deal, the placements and layout look to be the same, the chip has MP92 written on it and PIN1 (RESV) is connected to VDDIO (PIN8). Having said that, my MPU9250 WHO_AM_I response is 0x70 which I think is an indicator that the chip is actually an MPU6500?

Is there potentially something else I could check to be sure? Or is the response I'm getting a sure fire sign?

(I2C scan only pops out a device at 0x68 and my physical connections are vcc->3.3V; gnd->gnd;sda/scl->21/22 with pullups;NCS->3.3V)

I tried the esp32_5637 code on Arduino Nano. I am unable to get rid of drift. Is esp32 fast enough for sensor fusion at high frequencies? I need to synchronise the angle measurement with a 30fps camera

Thought you should know that I created an issue on the Arduino-esp32 GitHub page, espressif/arduino-esp32#334 to add your board to the official boards.txt file. Looks like they already merged it.

Mike.

I may be wrong but I think that the rate computation in your code() has a bug.
sumCount & sum are reset to zero inside the LCD update part

if (delt_t > 500) { // update LCD once per half-second independent of read rate
...
...
sumCount = 0;
sum = 0;
}

I think it should be outside the if (delt_t > 500) conditional part.
Moving the reset of sumcount and sum reduces the rate drastically.

Hello

I have an esp32 from HiLetgo. I also have an MPU 9255. I want to know if the following log shows a working 9255. I mostly left it still on the table.

https://nopaste.xyz/?35c2cef5d570a4f6#rl1+EIpTHcsxTk90dUk3Zn9v7aqtTQD36r6SvTjkHDM=

I can not seem to get these sketches to compile. I am using arduino IDE 1.8.5 and a doit esp32. i can read i2c devices on the i2c pins fine but I get the following when trying compile the BNO055_MS5637_ESP32 Basic Example Code.

C:\Users\woodtiger\Documents\Arduino\libraries\ESP32\Bosch\BNO055_MS5637\BNO055_MS5637.ino: In function 'void loop()':

BNO055_MS5637:557: error: 'MadgwickQuaternionUpdate' was not declared in this scope

MadgwickQuaternionUpdate(ax, -ay, -az, gxPI/180.0f, -gyPI/180.0f, -gz*PI/180.0f, -my, -mx, -mz);

                                                                                                 ^

C:\Users\woodtiger\Documents\Arduino\libraries\ESP32\Bosch\BNO055_MS5637\BNO055_MS5637.ino: In function 'void magCalBNO055(float*)':

BNO055_MS5637:933: error: narrowing conversion of '32768' from 'int' to 'int16_t {aka short int}' inside { } [-Wnarrowing]

int16_t mag_max[3] = {0x8000, 0x8000, 0x8000}, mag_min[3] = {0x7FFF, 0x7FFF, 0x7FFF};

                                           ^

BNO055_MS5637:933: error: narrowing conversion of '32768' from 'int' to 'int16_t {aka short int}' inside { } [-Wnarrowing]

BNO055_MS5637:933: error: narrowing conversion of '32768' from 'int' to 'int16_t {aka short int}' inside { } [-Wnarrowing]

C:\Users\woodtiger\Documents\Arduino\libraries\ESP32\Bosch\BNO055_MS5637\BNO055_MS5637.ino: In function 'uint8_t readByte(uint8_t, uint8_t)':

C:\Users\woodtiger\Documents\Arduino\libraries\ESP32\Bosch\BNO055_MS5637\BNO055_MS5637.ino:1142:29: warning: ISO C++ says that these are ambiguous, even though the worst conversion for the first is better than the worst conversion for the second:

Wire.requestFrom(address, 1); // Read one byte from slave register address

                         ^

In file included from C:\Users\woodtiger\Documents\Arduino\libraries\ESP32\Bosch\BNO055_MS5637\BNO055_MS5637.ino:37:0:

C:\Users\woodtiger\Documents\Arduino\hardware\espressif\esp32\libraries\Wire\src/Wire.h:65:13: note: candidate 1: uint8_t TwoWire::requestFrom(int, int)

 uint8_t requestFrom(int, int);

         ^

C:\Users\woodtiger\Documents\Arduino\hardware\espressif\esp32\libraries\Wire\src/Wire.h:63:13: note: candidate 2: uint8_t TwoWire::requestFrom(uint8_t, uint8_t)

 uint8_t requestFrom(uint8_t, uint8_t);

         ^

exit status 1
'MadgwickQuaternionUpdate' was not declared in this scope

Hi Kris,
first of all, I am impressed of what you did with creating such a small esp32 - development board.
I am really interested in buying some of them for my university projects.
I am not sure in which condition the boards are, when I am going to buy some from OSH-Park.
You mentioned in the description, the buyer would have to assemble them on his own. But I am not sure what assembling means in this situation. Does this mean, I will have to solder the through-holes? What are the TODOs for a board, bought from OSH?
I would buy the boards on Tindie, but the shipment itself is about 15$, since I am from Germany.
Warm regards,
Robin

Any chance for a version without the sensor hub? eek:)

Hi Kris.

First you did it again. Great board design. Right now I have been experimenting with the ESP32 thing from Sparkfun and seem to be having i2c problems reading from a lsm9ds0 from adafruit. I have not tested other sensors but was wondering if this dev board would have the same issues. I have tested the sensor on a teensy 3.5 so I know it does work.

THanks
Mike

Dear Kris,

thank you for sharing your fantastic libraries and documentation! : )

I 'm using a ESP32 DevKit Combo Board with a InvenSense MPU9250.
I could upload your script and it seems that everything is running fine.

But i suppose the Calibration is not working properly.
I would like to have the value 0 for all angles (roll, pitch, yaw) after the calibration.
Do you have any idea, how i could handle that?

Thank you and sorry for my bad English ; )
Thomas

Scanning...
I2C device found at address 0x0C !
I2C device found at address 0x68 !
done

MPU9250 9-axis motion sensor...
MPU9250 I AM 73 I should be 71
MPU9250 is online...
x-axis self test: acceleration trim within : 0.3% of factory value
y-axis self test: acceleration trim within : -3.4% of factory value
z-axis self test: acceleration trim within : -0.1% of factory value
x-axis self test: gyration trim within : -4.0% of factory value
y-axis self test: gyration trim within : -1.1% of factory value
z-axis self test: gyration trim within : 0.5% of factory value
Calibrate gyro and accel
accel biases (mg)
976.38
-273.19
-974.18
gyro biases (dps)
-1.16
1.56
1.89
MPU9250 initialized for active data mode....
AK8963 I AM 48 I should be 48
AK8963 initialized for active data mode....
Mag Calibration: Wave device in a figure eight until done!
Mag Calibration done!
AK8963 mag biases (mG)
101.82
-300.11
-158.42
AK8963 mag scale (mG)
1.10
0.90
1.02
X-Axis sensitivity adjustment value 1.19
Y-Axis sensitivity adjustment value 1.19
Z-Axis sensitivity adjustment value 1.15
MS5637 pressure sensor reset...
PROM dta read:
C0 = 14080
C1 = 14080
C2 = 14080
C3 = 14080
C4 = 14080
C5 = 14080
C6 = 14080
Checksum = 13 , should be 3

Yaw: 5.50 Pitch: 0.00 Roll: 0.00

Yaw: 39.92 Pitch: 62.81 Roll: -63.46

Yaw: 38.67 Pitch: 63.06 Roll: -64.81

Yaw: 37.43 Pitch: 63.28 Roll: -66.12

Dear Kriswiner,

Do you have any example with ESP32 + MPU9250 without MS5637 ?

My mission is do a angle level where I need to get ate least roll and pitch values, from one machine, save, and after check if the other machine has the same values.

I was doing with mpu6050 however when the operator turn the sensor in YAW sense, the pitch and roll values change. That is a big problem because they have some difficult to put exactly in the same postion before calibrate the machine.

With you example and using MPU9250 I guess I'll solve this problem.

hi kris,

on my last question on your thread issue kriswiner/MPU9250#241
i used sketch MPU9250_MS5637_AHRS_t3.ino,

now i tried to used your sketch MPU9250_MS5637_AHRS.ino, link as below :
https://github.com/kriswiner/ESP32/tree/master/MPU9250_MS5637

my question:
are my sensor had broken? because i tried with ESP32 sketch i got something wrong with my gyro bias (dps) (i put sensor on flat surface and steady position), i tried calibration about 3 times, with same problem. can you help me or explain what should i do?
are the gyro bias can affected the real time gyro data?

Test 1
Scanning...
I2C device found at address 0x0C !
I2C device found at address 0x68 !
done

MPU9250 9-axis motion sensor...
MPU9250 I AM 73 I should be 73
MPU9250 is online...
x-axis self test: acceleration trim within : -0.2% of factory value
y-axis self test: acceleration trim within : 0.2% of factory value
z-axis self test: acceleration trim within : 0.9% of factory value
x-axis self test: gyration trim within : -0.4% of factory value
y-axis self test: gyration trim within : -0.3% of factory value
z-axis self test: gyration trim within : 0.3% of factory value
Calibrate gyro and accel
accel biases (mg)
30.09
31.01
-18.98
gyro biases (dps)
3.03
0.00
-0.98
MPU9250 initialized for active data mode....
AK8963 I AM 48 I should be 48
AK8963 initialized for active data mode....
Mag Calibration: Wave device in a figure eight until done!
Mag Calibration done!
AK8963 mag biases (mG)
219.92
1031.42
-736.31
AK8963 mag scale (mG)
0.60
1.56
1.46
X-Axis sensitivity adjustment value 1.16
Y-Axis sensitivity adjustment value 1.17
Z-Axis sensitivity adjustment value 1.13

Test 2
Scanning...
I2C device found at address 0x0C !
I2C device found at address 0x68 !
done

MPU9250 9-axis motion sensor...
MPU9250 I AM 73 I should be 73
MPU9250 is online...
x-axis self test: acceleration trim within : -0.3% of factory value
y-axis self test: acceleration trim within : 0.2% of factory value
z-axis self test: acceleration trim within : 0.8% of factory value
x-axis self test: gyration trim within : -0.5% of factory value
y-axis self test: gyration trim within : -0.2% of factory value
z-axis self test: gyration trim within : 0.2% of factory value
Calibrate gyro and accel
accel biases (mg)
35.52
29.66
-13.92
gyro biases (dps)
3.03
0.10
-0.97
MPU9250 initialized for active data mode....
AK8963 I AM 48 I should be 48
AK8963 initialized for active data mode....
Mag Calibration: Wave device in a figure eight until done!
Mag Calibration done!
AK8963 mag biases (mG)
207.70
1012.09
-719.38
AK8963 mag scale (mG)
0.59
1.57
1.49
X-Axis sensitivity adjustment value 1.16
Y-Axis sensitivity adjustment value 1.17
Z-Axis sensitivity adjustment value 1.13

Test 3
Scanning...
I2C device found at address 0x0C !
I2C device found at address 0x68 !
done

MPU9250 9-axis motion sensor...
MPU9250 I AM 73 I should be 73
MPU9250 is online...
x-axis self test: acceleration trim within : -0.3% of factory value
y-axis self test: acceleration trim within : 0.1% of factory value
z-axis self test: acceleration trim within : 0.7% of factory value
x-axis self test: gyration trim within : -0.5% of factory value
y-axis self test: gyration trim within : -0.2% of factory value
z-axis self test: gyration trim within : 0.3% of factory value
Calibrate gyro and accel
accel biases (mg)
27.77
32.84
-17.46
gyro biases (dps)
3.06
0.06
-0.96
MPU9250 initialized for active data mode....
AK8963 I AM 48 I should be 48
AK8963 initialized for active data mode....
Mag Calibration: Wave device in a figure eight until done!
Mag Calibration done!
AK8963 mag biases (mG)
237.37
998.03
-722.77
AK8963 mag scale (mG)
0.60
1.33
1.70
X-Axis sensitivity adjustment value 1.16
Y-Axis sensitivity adjustment value 1.17
Z-Axis sensitivity adjustment value 1.13

Data Value :
ax = -1.77 ay = -4.03 az = 997.19 mg
gx = 0.11 gy = 0.06 gz = -0.10 deg/s
mx = -27 my = 69 mz = 37 mG
q0 = 0.98 qx = -0.00 qy = -0.00 qz = -0.21
Gyro temperature is 29.0 degrees C
Digital temperature value = 20.00 C
Digital temperature value = 68.00 F
Digital pressure value = 0.00 mbar
Altitude = 145366.45 feet
Yaw, Pitch, Roll: 349.24, -0.18, -0.27
Grav_x, Grav_y, Grav_z: 4.78, -3.13, 999.98 mg
Lin_ax, Lin_ay, Lin_az: -6.55, -0.90, -2.79 mg
sumCount = 1010
sum = 0.56
rate = 1805.74 Hz
ax = -3.11 ay = -1.83 az = 998.11 mg
gx = 0.05 gy = 0.07 gz = -0.09 deg/s
mx = -27 my = 48 mz = 37 mG
q0 = 0.98 qx = 0.00 qy = -0.00 qz = -0.22
Gyro temperature is 29.0 degrees C
Digital temperature value = 20.00 C
Digital temperature value = 68.00 F
Digital pressure value = 0.00 mbar
Altitude = 145366.45 feet
Yaw, Pitch, Roll: 348.58, -0.03, 0.02
Grav_x, Grav_y, Grav_z: -0.36, -0.57, 1000.00 mg
Lin_ax, Lin_ay, Lin_az: -2.76, -1.26, -1.89 mg
sumCount = 1010
sum = 0.56
rate = 1788.88 Hz
ax = -1.10 ay = -3.23 az = 1001.83 mg
gx = 0.05 gy = 0.03 gz = -0.04 deg/s
mx = -34 my = 38 mz = 27 mG
q0 = 0.98 qx = -0.00 qy = -0.00 qz = -0.22
Gyro temperature is 29.0 degrees C
Digital temperature value = 20.00 C
Digital temperature value = 68.00 F
Digital pressure value = 0.00 mbar
Altitude = 145366.45 feet
Yaw, Pitch, Roll: 348.44, -0.08, -0.12
Grav_x, Grav_y, Grav_z: 2.04, -1.44, 1000.00 mg
Lin_ax, Lin_ay, Lin_az: -3.14, -1.80, 1.83 mg
sumCount = 1010
sum = 0.56
rate = 1803.98 Hz
ax = -0.98 ay = -5.07 az = 992.43 mg
gx = 0.05 gy = 0.13 gz = -0.08 deg/s
mx = -33 my = 56 mz = 29 mG
q0 = 0.98 qx = -0.00 qy = -0.00 qz = -0.21
Gyro temperature is 29.0 degrees C
Digital temperature value = 20.00 C
Digital temperature value = 68.00 F
Digital pressure value = 0.00 mbar
Altitude = 145366.45 feet
Yaw, Pitch, Roll: 349.01, -0.16, -0.26
Grav_x, Grav_y, Grav_z: 4.56, -2.84, 999.99 mg
Lin_ax, Lin_ay, Lin_az: -5.53, -2.23, -7.55 mg
sumCount = 1010
sum = 0.56
rate = 1788.88 Hz

Hi Kris

Just soldered up your board and tried to upload a test sketch. I keep receiving the following error messages:
A fatal error occurred: Failed to connect to ESP32: Invalid head of packet ('V')
A fatal error occurred: Failed to connect to ESP32: Invalid head of packet ('V')

I selected the ESP32 Dev Board from the Arduino IDE. Is this the correct board. I keep trying to upload but can not?

UDPATE: After reading a little more I saw that I had to change flash mode from dio to dout in boards.txt. I went into the esp32 boards.txt file and added a new board as shown below but no luck - same error:

##############################################################

esp32t.name=ESP32 Dev Module Onehorse

esp32t.upload.tool=esptool
esp32t.upload.maximum_size=1044464
esp32t.upload.maximum_data_size=294912
esp32t.upload.wait_for_upload_port=true

esp32t.serial.disableDTR=true
esp32t.serial.disableRTS=true

esp32t.build.mcu=esp32
esp32t.build.core=esp32
esp32t.build.variant=esp32
esp32t.build.board=ESP32_DEV_Onehorse

esp32t.build.f_cpu=240000000L
esp32t.build.flash_mode=dout
esp32t.build.flash_size=4MB

esp32t.menu.FlashFreq.80=80MHz
esp32t.menu.FlashFreq.80.build.flash_freq=80m
esp32t.menu.FlashFreq.40=40MHz
esp32t.menu.FlashFreq.40.build.flash_freq=40m

esp32t.menu.UploadSpeed.921600=921600
esp32t.menu.UploadSpeed.921600.upload.speed=921600
esp32t.menu.UploadSpeed.115200=115200
esp32t.menu.UploadSpeed.115200.upload.speed=115200
esp32t.menu.UploadSpeed.256000.windows=256000
esp32t.menu.UploadSpeed.256000.upload.speed=256000
esp32t.menu.UploadSpeed.230400.windows.upload.speed=256000
esp32t.menu.UploadSpeed.230400=230400
esp32t.menu.UploadSpeed.230400.upload.speed=230400
esp32t.menu.UploadSpeed.460800.linux=460800
esp32t.menu.UploadSpeed.460800.macosx=460800
esp32t.menu.UploadSpeed.460800.upload.speed=460800
esp32t.menu.UploadSpeed.512000.windows=512000
esp32t.menu.UploadSpeed.512000.upload.speed=512000

esp32t.menu.DebugLevel.none=None
esp32t.menu.DebugLevel.none.build.code_debug=0
esp32t.menu.DebugLevel.error=Error
esp32t.menu.DebugLevel.error.build.code_debug=1
esp32t.menu.DebugLevel.warn=Warn
esp32t.menu.DebugLevel.warn.build.code_debug=2
esp32t.menu.DebugLevel.info=Info
esp32t.menu.DebugLevel.info.build.code_debug=3
esp32t.menu.DebugLevel.debug=Debug
esp32t.menu.DebugLevel.debug.build.code_debug=4
esp32t.menu.DebugLevel.verbose=Verbose
esp32t.menu.DebugLevel.verbose.build.code_debug=5

In your example Im having some odd values with the software Yaw, if it reads 90 and I move it to 180 it will count back down to 90 again..So no matter where I rotate the sensor it resets to what ever value it starts with
The hardware Yaw seems to keep its values however.

@kriswiner I'm a little confused looking at your ESP32 repository and your MPU9250 repository.

I'm using a Sparkfun 9250 breakout (https://www.sparkfun.com/products/13762) and an Adafruit Feather ESP32 board.

Between these two repositories you have a number of MPU9250 sketches and I'm a bit confused about which one is most appropriate for the setup I'm running. I'm looking to get sensor fusion for a balancing robot.

My robot runs it's main loop every 10ms and I want to get/fuse "latest" data from the sensor at the top of the loop.

I've tried sparkfun's 9250 repositories but theirs all seem broken in some way.

'Class wifi class has no member named mode'

Some thing same..
espressif/arduino-esp32#103

Please help me I am new to programming, explain me the steps to follow.

Thanks..

Hello Kris,
Please excuse me for my English.

I'm trying to use your MPU9250 reading code, but unfortunately the roll, pitch and yaw angles are being printed as "nan".
Quaternions also have the same problem.

The print
ax = -563.48 ay = -931.58 az = 616.94 mg
gx = 12.00 gy = -7.16 gz = 88.43 deg/s
mx = 2147483647 my = 2147483647 mz = 2147483647 mG
q0 = nan qx = nan qy = nan qz = nan
Gyro temperature is 17.7 degrees C
Yaw, Pitch, Roll: nan, nan, nan
Grav_x, Grav_y, Grav_z: nan, nan, nan mg
Lin_ax, Lin_ay, Lin_az: nan, nan, nan mg
sumCount = 0
sum = 0.00
rate = nan Hz

Getting error message using ide 1.8.2 and new version of esp32 library. Something about magic number. I reported under issue 334, espressif/arduino-esp32#334

ets Jun  8 2016 00:22:57

rst:0x1 (POWERON_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
ets Jun  8 2016 00:22:57

rst:0x10 (RTCWDT_RTC_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0x00
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DOUT, clock div:1
load:0x3fff0008,len:8
load:0x3fff0010,len:2036
load:0x40078000,len:9988
load:0x40080000,len:252
entry 0x40080034
E (30) esp_image: image at 0x1000 has invalid magic byte
E (30) boot: failed to load bootloader header!
user code done