MPU6050 Invensense Motion Tracking Device

Browse source code on GitHub

Description

This sample application periodically (10 Hz) measures the sensor temperature, acceleration, and angular velocity, tap, double tap displaying the values on the console along with a timestamp since startup.

Wiring

This sample uses an external breakout for the sensor. A devicetree overlay must be provided to identify the SPI 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/icm42605
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>

See also

Sensor Interface