ALB MPU-6050 Breakout - Six-Axis (Gyro + Accelerometer) MEMS Sensor

Peter...About 5 min

Overview

The MPU-6050™ parts are the world’s first MotionTracking devices designed for the low power, low cost, and high-performance. The MPU-6050 devices combine a 3-axis gyroscope and a 3-axis accelerometer on the same silicon die, together with an onboard Digital Motion Processor™ (DMP™), which processes complex 6-axis MotionFusion algorithms. The device can access external magnetometers or other sensors through an auxiliary master I²C bus, allowing the devices to gather a full set of sensor data without intervention from the system processor.

For precision tracking of both fast and slow motions, the parts feature a user-programmable gyro full-scale range of ±250, ±500, ±1000, and ±2000 °/sec (dps), and a user-programmable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g. Additional features include an embedded temperature sensor and an on-chip oscillator with ±1% variation over the operating temperature range.

Features

Tri-Axis angular rate sensor (gyro) with a sensitivity up to 131 LSBs/dps and a full-scale range of ±250, ±500, ±1000, and ±2000dps
Tri-Axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±16g
Digital-output temperature sensor
VDD Supply voltage range of 2.375V–3.46V; VLOGIC (MPU-6050) at 1.8V±5% or VDD
Accel low power mode operating currents: 10µA at 1Hz, 20µA at 5Hz, 70µA at 20Hz, 140µA at 40Hz
400kHz Fast Mode I²C interfaces

Specifications

AW9523B - a 16 multi-function LED driver and GPIO controller
Headers for I²C Interface
Headers for FSYC, Address and so on.
Qwiic connector x 2, easy to debug & use
Dimension: 28 x 18 x 5 mm

Hardware

Pin	Description	Note
VDD	Power supply voltage: 2.4-3.5V
VIO	Digital I/O supply voltage: 1.8-VDD
GND	Ground
SDA	I²C interface Data bus	Had external pull-up resistor 4K7
SCL	I²C interface Clock bus	Had external pull-up resistor 4K7
INT	Interrupt digital output (totem pole or open-drain) Active low
AD0	I²C interface device address bit0	Default 0
FSYNC	Frame synchronization digital input. Connect to GND if not used
SDE	Aux I²C interface Data bus
SCE	Aux I²C interface Clock bus
CLKIN	Optional external reference clock input. Connect to GND if unused.

Default I²C interface 7 bit device address: 0x34

User Guide

It is the best choice to develop embedded drivers with embedded rust. Because the driver can be used with MCU like ESP32, also used with ARM64 Linux Application, for example raspberry pi directly.

You can download the mpu-6050 rust driver with git, also add your rust project with cargo - cargo add mpu6050.

The examples as below use the first one.

git clone https://github.com/juliangaal/mpu6050/

Examples

Simple Read MPU-6050 Acc & Gypro Data

This example will simply read mpu-6050 Accelerator & Gypro Sensor Data & Temperature

use mpu6050::*;
use linux_embedded_hal::{I2cdev, Delay};
use i2cdev::linux::LinuxI2CError;

fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
    let i2c = I2cdev::new("/dev/i2c-3")
        .map_err(Mpu6050Error::I2c)?;

    let mut delay = Delay;
    let mut mpu = Mpu6050::new(i2c);
    
    mpu.init(&mut delay)?;

    loop {
        // get roll and pitch estimate
        let acc = mpu.get_acc_angles()?;
        println!("r/p: {:?}", acc);

        // get sensor temp
        let temp = mpu.get_temp()?;
        println!("temp: {:?}c", temp);

        // get gyro data, scaled with sensitivity 
        let gyro = mpu.get_gyro()?;
        println!("gyro: {:?}", gyro);

        // get accelerometer data, scaled with sensitivity
        let acc = mpu.get_acc()?;
        println!("acc: {:?}", acc);
    }
}

/dev/i2c-3 is a i2c controller of rpi.
The MPU-6050's I²C Device address is 0x34. So we use new function to create a instance. Mpu6050::new(i2c)
get_acc function will get the accelerator sensor data
get_gyro function will get the gypro data
get_temp function will get the temperature
get_acc_angles function will get roll and pitch estimate

Use the command as below to build and run the app.

cargo build --target aarch64-unknown-linux-gnu -- example simple
scp -r ./target/aarch64-unknown-linux-gnu/debug/example/simple rpi@192.168.6.77:

After login the RPI with SSH, we can execute the app directly.

sudo ./simple

The terminal will print the accelerator & gyro, temperature.

MPU-6050 Self-Test

This example will read MPU-6050 Register and check the value in the range of MPU-6050.

use mpu6050::{*, device::*};

use linux_embedded_hal::{I2cdev, Delay};
use i2cdev::linux::LinuxI2CError;
use mpu6050::device::{ACCEL_HPF, CLKSEL};

fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
    let i2c = I2cdev::new("/dev/i2c-3")
        .map_err(Mpu6050Error::I2c)?;

    let mut delay = Delay;
    let mut mpu = Mpu6050::new(i2c);
    
    mpu.init(&mut delay)?;

    // Test power management
    println!("Test power management");

    // Test gyro config
    println!("Test gyro config");
    assert_eq!(mpu.get_gyro_range()?, GyroRange::D250);
    mpu.set_gyro_range(GyroRange::D500)?;
    assert_eq!(mpu.get_gyro_range()?, GyroRange::D500);

    // Test accel config
    println!("Test accel config");
    assert_eq!(mpu.get_accel_range()?, AccelRange::G2);
    mpu.set_accel_range(AccelRange::G4)?;
    assert_eq!(mpu.get_accel_range()?, AccelRange::G4);

    // accel_hpf: per default RESET/no filter, see ACCEL_CONFIG
    println!("Test accel hpf");
    assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_RESET);
    mpu.set_accel_hpf(ACCEL_HPF::_1P25)?;
    assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_1P25);
    mpu.set_accel_hpf(ACCEL_HPF::_2P5)?;
    assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_2P5);
    mpu.set_accel_hpf(ACCEL_HPF::_5)?;
    assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_5);
    mpu.set_accel_hpf(ACCEL_HPF::_0P63)?;
    assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_0P63);
    mpu.set_accel_hpf(ACCEL_HPF::_HOLD)?;
    assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_HOLD);

    // test sleep. Default no, in wake()
    println!("Test sleep");
    assert_eq!(mpu.get_sleep_enabled()?, false);
    mpu.set_sleep_enabled(true)?;
    assert_eq!(mpu.get_sleep_enabled()?, true);
    mpu.set_sleep_enabled(false)?;
    assert_eq!(mpu.get_sleep_enabled()?, false);

    // test temp enable/disable
    println!("Test temp enable/disable");
    mpu.set_temp_enabled(false)?;
    assert_eq!(mpu.get_temp_enabled()?, false);
    assert_eq!(mpu.get_temp()?, 36.53);
    mpu.set_temp_enabled(true)?;
    assert_eq!(mpu.get_temp_enabled()?, true);
    assert_ne!(mpu.get_temp()?, 36.53);

    // Test clksel: GXAXIS per default, set in wake()
    println!("Test CLKSEL");
    assert_eq!(mpu.get_clock_source()?, CLKSEL::GXAXIS);
    mpu.set_clock_source(CLKSEL::GYAXIS)?;
    assert_eq!(mpu.get_clock_source()?, CLKSEL::GYAXIS);
    mpu.set_clock_source(CLKSEL::GZAXIS)?;
    assert_eq!(mpu.get_clock_source()?, CLKSEL::GZAXIS);
    mpu.set_clock_source(CLKSEL::OSCILL)?;
    assert_eq!(mpu.get_clock_source()?, CLKSEL::OSCILL);
    mpu.set_clock_source(CLKSEL::STOP)?;
    assert_eq!(mpu.get_clock_source()?, CLKSEL::STOP);
    mpu.set_clock_source(CLKSEL::RESERV)?;
    assert_eq!(mpu.get_clock_source()?, CLKSEL::RESERV);
    mpu.set_clock_source(CLKSEL::EXT_19P2)?;
    assert_eq!(mpu.get_clock_source()?, CLKSEL::EXT_19P2);
    mpu.set_clock_source(CLKSEL::EXT_32p7)?;
    assert_eq!(mpu.get_clock_source()?, CLKSEL::EXT_32p7);

    // reset
    println!("Test reset");
    mpu.reset_device(&mut delay)?;
    assert_eq!(mpu.get_accel_hpf()?, ACCEL_HPF::_RESET);
    assert_eq!(mpu.get_accel_range()?, AccelRange::G2);
    assert_eq!(mpu.get_gyro_range()?, GyroRange::D250);
    assert_eq!(mpu.get_sleep_enabled()?, true);
    assert_eq!(mpu.get_temp_enabled()?, true);

    println!("Test successful");
    Ok(())
}

/dev/i2c-3 is a i2c controller of rpi.
The MPU-6050's I²C Device address is 0x34. So we use new function to create a instance. Mpu6050::new(i2c)
In the loop, read MPU-6050 Register and check the value in the range of MPU-6050.

Use the command as below to build and run the app.

cargo build --target aarch64-unknown-linux-gnu -- example test
scp -r ./target/aarch64-unknown-linux-gnu/debug/example/test rpi@192.168.6.77:

After login the RPI with SSH, we can execute the app directly.

sudo ./test

Motion Detection

This example will detect motion with MPU-6050.

use mpu6050::{*, device::MOT_DETECT_STATUS};
use linux_embedded_hal::{I2cdev, Delay};
use i2cdev::linux::LinuxI2CError;
use embedded_hal::blocking::delay::DelayMs;

fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
    let i2c = I2cdev::new("/dev/i2c-3")
        .map_err(Mpu6050Error::I2c)?;

    let mut delay = Delay;
    let mut mpu = Mpu6050::new(i2c);
    
    mpu.init(&mut delay)?;
    mpu.setup_motion_detection()?;

    let mut count: u8 = 0;

    loop {
        if mpu.get_motion_detected()? {
            println!("YEAH BUDDY. Motion by axes: {:b}", mpu.read_byte(MOT_DETECT_STATUS::ADDR)?);
            count += 1;
        }

        delay.delay_ms(10u8);

        if count > 5 {
            mpu.reset_device(&mut delay)?;
            break;
        }
    }

    Ok(())
}

/dev/i2c-3 is a i2c controller of rpi.
The MPU-6050's I²C Device address is 0x34. So we use new function to create a instance. Mpu6050::new(i2c)
setup_motion_detection function will set up motion detection
get_motion_detected function will get detected motion

Use the command as below to build and run the app.

cargo build --target aarch64-unknown-linux-gnu -- example motion_detection
scp -r ./target/aarch64-unknown-linux-gnu/debug/example/motion_detection rpi@192.168.6.77:

After login the RPI with SSH, we can execute the app directly.

sudo ./motion_detection

Buy it Now

AnalogLamb.Comopen in new window

Resources

Documents

MPU-6050 Datasheetopen in new window
Schematic

Codes

Github - mpu6050-rsopen in new window

3D Drawing

TBD

FAQ

TBD

NickName

E-Mail

Website

Comments

Latest
Oldest
Hottest

ALB MPU-6050 Breakout - Six-Axis (Gyro + Accelerometer) MEMS Sensor

# Overview

# Features

# Specifications

# Hardware

# User Guide

# Examples

# Buy it Now

# Resources

# Documents

# Codes

# 3D Drawing

# FAQ

Preview:

Overview

Features

Specifications

Hardware

User Guide

Examples

Buy it Now

Resources

Documents

Codes

3D Drawing

FAQ