| .. _mpu6050: |
| |
| 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: |
| |
| .. zephyr-app-commands:: |
| :zephyr-app: samples/sensor/mpu6050 |
| :board: nrf52dk_nrf52832 |
| :goals: build flash |
| |
| Sample Output |
| ============= |
| |
| .. code-block:: console |
| |
| *** 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> |
