2019-12-22 22:48:34 +08:00
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.. _mpu6050:
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MPU6050: Invensense Motion Tracking Device
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##########################################
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Description
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***********
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This sample application periodically (0.5 Hz) measures the sensor
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temperature, acceleration, and angular velocity, displaying the values
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on the console along with a timestamp since startup.
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When triggered mode is enabled the measurements are displayed at the
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rate they are produced by the sensor.
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Wiring
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*******
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This sample uses an external breakout for the sensor. A devicetree
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overlay must be provided to identify the I2C bus and GPIO used to
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control the sensor.
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Building and Running
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********************
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After providing a devicetree overlay that specifies the sensor location,
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build this sample app using:
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.. zephyr-app-commands::
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:zephyr-app: samples/sensor/mpu6050
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2020-04-03 00:24:56 +08:00
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:board: nrf52dk_nrf52832
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2019-12-22 22:48:34 +08:00
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:goals: build flash
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Sample Output
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=============
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.. code-block:: console
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*** Booting Zephyr OS build zephyr-v2.1.0-576-g4b38659b0661 ***
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[0:00:00.008]:23.6359 Cel
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accel -5.882554 -6.485893 5.868188 m/s/s
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gyro 0.014522 0.002264 -0.036905 rad/s
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[0:00:02.020]:23.6359 Cel
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accel -5.841853 -6.435615 5.911283 m/s/s
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gyro 0.017852 0.001199 -0.034640 rad/s
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[0:00:04.032]:23.6829 Cel
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accel -5.930438 -6.461951 6.009446 m/s/s
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gyro 0.012923 0.002131 -0.037171 rad/s
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[0:00:06.044]:23.6359 Cel
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accel -5.884948 -6.524200 5.961562 m/s/s
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gyro 0.012390 -0.001732 -0.045964 rad/s
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[0:00:08.056]:35.7712 Cel
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accel -5.863400 -12.872426 -0.154427 m/s/s
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gyro -0.034373 -0.034373 -0.034373 rad/s
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[0:00:10.068]:23.6829 Cel
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accel -5.906496 -6.461951 5.899312 m/s/s
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gyro 0.015321 -0.000399 -0.039169 rad/s
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<repeats endlessly>
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