ESP32 hardware abstraction layer (hal) and example (main/main.c) for TKD InvenSense MPU chips.
There are several MPU libraries for microcontroller (like the ESP32) avaiable (like this or that), but this version here uses the official motion driver from TKD InvenSense eMD 6.12 and adds only a tiny hardware abstraction layer. Further, everything is nicely organized in components/mpu and main/main.c is just the example.
- eMD 6.12
- espressiv idf
- Copy the components/mpu directory into your project directory.
- Download the motion driver eMD 6.12 and extract the content into components/mpu
- Apply components/mpu/patch.diff (e.g. with:
git apply -p1 --reject --whitespace=fix components/mpu/patch.diff). I discovered, that this step will not always work straightforward. However, the patch file isn't that big and you can apply the changes manually. - Select the right MPU chip (idf.py mencuconfig --> Component config --> motion_driver --> MPU chip model)
See the following Sketch as wiring example
