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MPU6050: Invensense Motion Tracking Device¶

Description¶

This sample application periodically (0.5 Hz) measures the sensor temperature, acceleration, and angular velocity, displaying the values on the console along with a timestamp since startup.

When triggered mode is enabled the measurements are displayed at the rate they are produced by the sensor.

Wiring¶

This sample uses an external breakout for the sensor. A devicetree overlay must be provided to identify the I2C bus and GPIO used to control the sensor.

Building and Running¶

After providing a devicetree overlay that specifies the sensor location, build this sample app using:

# From the root of the zephyr repository
west build -b nrf52dk_nrf52832 samples/sensor/mpu6050
west flash

Sample Output¶

*** Booting Zephyr OS build zephyr-v2.1.0-576-g4b38659b0661  ***
[0:00:00.008]:23.6359 Cel
  accel -5.882554 -6.485893  5.868188 m/s/s
  gyro   0.014522  0.002264 -0.036905 rad/s
[0:00:02.020]:23.6359 Cel
  accel -5.841853 -6.435615  5.911283 m/s/s
  gyro   0.017852  0.001199 -0.034640 rad/s
[0:00:04.032]:23.6829 Cel
  accel -5.930438 -6.461951  6.009446 m/s/s
  gyro   0.012923  0.002131 -0.037171 rad/s
[0:00:06.044]:23.6359 Cel
  accel -5.884948 -6.524200  5.961562 m/s/s
  gyro   0.012390 -0.001732 -0.045964 rad/s
[0:00:08.056]:35.7712 Cel
  accel -5.863400 -12.872426 -0.154427 m/s/s
  gyro  -0.034373 -0.034373 -0.034373 rad/s
[0:00:10.068]:23.6829 Cel
  accel -5.906496 -6.461951  5.899312 m/s/s
  gyro   0.015321 -0.000399 -0.039169 rad/s