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
<repeats endlessly>