Introduction

The MPU-6050 is the world’s first and only 6-axis motion tracking devices designed for the low power, low cost, and high performance requirements of smartphones, tablets and wearable sensors.

Experimental Procedures

Step 1: Connect the circuit

Step 2:Add library

Open Arduino IDE, then click Sketch -> Include Library -> Add ZIP Library, and select MPU6050.zip to include.

After including successfully, you can see the example in File -> Examples -> MPU6050 as shown.

Step 3: Get Drift Compensation Values

The MPU6050 sensor’s reading (raw data) is transformed in space attitude angle. To get more stable and accurate reading, we should set the drift compensation first. The drift differs for different sensors (also affected by environments), thus it’s necessary to configure it before using every time.

Download mpu6050_calibration in folder examples, select the board type and COM. Open the serial monitor after program uploading, set the baud rate to 115200, and place the MPU6050 horizontally, do not move to avoid any vibration disturbance. Then press any key and click enter. So here you can see the compensation values are 1721, -1885, 1368, 38, -25, and 18, corresponding to six parameters including acceleration (AcceX, AcceY, and AcceZ) and gyroscope (GyroX, GyroY, and GyroZ).

Step 4: Reading Real-time Data

Then go back to the interface of the example mpu6050_DMP6 after including, and go to line 128. Enter the compensation value for “GyroX, GyroY, GyroZ and AcceZ” (as shown in figure below)

Then upload the program, press any key and click Enter in the serial monitor. Move the MPU6050 and observe the real-time data (as shown in figure below).

what is mpu6050 :

The MPU-6050 is the world’s first and only 6-axis motion tracking devices designed for the low power, low cost, and high performance requirements of smartphones, tablets and wearable sensors.

Introduction to MPU6050 :

MPU6050 is a Micro Electro-mechanical system (MEMS), it consists of three-axis accelerometer and three-axis gyroscope. It helps us to measure velocity, orientation, acceleration, displacement and other motion like features.

MPU6050 consists of Digital Motion Processor (DMP), which has property to solve complex calculations.

MPU6050 consists of a 16-bit analog to digital converter hardware. Due to this feature, it captures three-dimension motion at the same time.

This module has some famous features which are easily accessible, due to its easy availability it can be used with a famous microcontroller like Arduino. Friend if you are looking for a sensor to control a motion of your Drone, Self Balancing Robot, RC Cars and something like this, then MPU6050 will be a good choice for you.

This module uses the I2C module for interfacing with Arduino.

MPU6050 is less expensive, Its main feature is that it can easily combine with accelerometer and gyro.

code

#include "MPU6050_6Axis_MotionApps20.h"

//#include "MPU6050.h" // not necessary if using MotionApps include file

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation

// is used in I2Cdev.h

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

#include "Wire.h"

#endif

// class default I2C address is 0x68

// specific I2C addresses may be passed as a parameter here

// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)

// AD0 high = 0x69

MPU6050 mpu;

//MPU6050 mpu(0x69); // <-- use for AD0 high

/* =========================================================================

NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch

depends on the MPU-6050's INT pin being connected to the Arduino's

external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is

digital I/O pin 2.

* ========================================================================= */

/* =========================================================================

NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error

when using Serial.write(buf, len). The Teapot output uses this method.

The solution requires a modification to the Arduino USBAPI.h file, which

is fortunately simple, but annoying. This will be fixed in the next IDE

release. For more info, see these links:

http://arduino.cc/forum/index.php/topic,109987.0.html

http://code.google.com/p/arduino/issues/detail?id=958

* ========================================================================= */

// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual

// quaternion components in a [w, x, y, z] format (not best for parsing

// on a remote host such as Processing or something though)

//#define OUTPUT_READABLE_QUATERNION

// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles

// (in degrees) calculated from the quaternions coming from the FIFO.

// Note that Euler angles suffer from gimbal lock (for more info, see

// http://en.wikipedia.org/wiki/Gimbal_lock)

//#define OUTPUT_READABLE_EULER

// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/

// pitch/roll angles (in degrees) calculated from the quaternions coming

// from the FIFO. Note this also requires gravity vector calculations.

// Also note that yaw/pitch/roll angles suffer from gimbal lock (for

// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)

#define OUTPUT_READABLE_YAWPITCHROLL

// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration

// components with gravity removed. This acceleration reference frame is

// not compensated for orientation, so +X is always +X according to the

// sensor, just without the effects of gravity. If you want acceleration

// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.

//#define OUTPUT_READABLE_REALACCEL

// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration

// components with gravity removed and adjusted for the world frame of

// reference (yaw is relative to initial orientation, since no magnetometer

// is present in this case). Could be quite handy in some cases.

//#define OUTPUT_READABLE_WORLDACCEL

// uncomment "OUTPUT_TEAPOT" if you want output that matches the

// format used for the InvenSense teapot demo

//#define OUTPUT_TEAPOT

#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards

#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)

bool blinkState = false;

// MPU control/status vars

bool dmpReady = false; // set true if DMP init was successful

uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU

uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)

uint16_t packetSize; // expected DMP packet size (default is 42 bytes)

uint16_t fifoCount; // count of all bytes currently in FIFO

uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars

Quaternion q; // [w, x, y, z] quaternion container

VectorInt16 aa; // [x, y, z] accel sensor measurements

VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements

VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements

VectorFloat gravity; // [x, y, z] gravity vector

float euler[3]; // [psi, theta, phi] Euler angle container

float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo

uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };

// ================================================================

// === INTERRUPT DETECTION ROUTINE ===

// ================================================================

volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high

void dmpDataReady() {

mpuInterrupt = true;

}

// ================================================================

// === INITIAL SETUP ===

// ================================================================

void setup() {

// join I2C bus (I2Cdev library doesn't do this automatically)

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

Wire.begin();

Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties

#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE

Fastwire::setup(400, true);

#endif

// initialize serial communication

// (115200 chosen because it is required for Teapot Demo output, but it's

// really up to you depending on your project)

Serial.begin(115200);

while (!Serial); // wait for Leonardo enumeration, others continue immediately

// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino

// Pro Mini running at 3.3V, cannot handle this baud rate reliably due to

// the baud timing being too misaligned with processor ticks. You must use

// 38400 or slower in these cases, or use some kind of external separate

// crystal solution for the UART timer.

// initialize device

Serial.println(F("Initializing I2C devices..."));

mpu.initialize();

pinMode(INTERRUPT_PIN, INPUT);

// verify connection

Serial.println(F("Testing device connections..."));

Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

// wait for ready

Serial.println(F("\nSend any character to begin DMP programming and demo: "));

while (Serial.available() && Serial.read()); // empty buffer

while (!Serial.available()); // wait for data

while (Serial.available() && Serial.read()); // empty buffer again

// load and configure the DMP

Serial.println(F("Initializing DMP..."));

devStatus = mpu.dmpInitialize();

// supply your own gyro offsets here, scaled for min sensitivity

mpu.setXGyroOffset(220);

mpu.setYGyroOffset(76);

mpu.setZGyroOffset(-85);

mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

// make sure it worked (returns 0 if so)

if (devStatus == 0) {

// Calibration Time: generate offsets and calibrate our MPU6050

mpu.CalibrateAccel(6);

mpu.CalibrateGyro(6);

mpu.PrintActiveOffsets();

// turn on the DMP, now that it's ready

Serial.println(F("Enabling DMP..."));

mpu.setDMPEnabled(true);

// enable Arduino interrupt detection

Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));

Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));

Serial.println(F(")..."));

attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);

mpuIntStatus = mpu.getIntStatus();

// set our DMP Ready flag so the main loop() function knows it's okay to use it

Serial.println(F("DMP ready! Waiting for first interrupt..."));

dmpReady = true;

// get expected DMP packet size for later comparison

packetSize = mpu.dmpGetFIFOPacketSize();

} else {

// ERROR!

// 1 = initial memory load failed

// 2 = DMP configuration updates failed

// (if it's going to break, usually the code will be 1)

Serial.print(F("DMP Initialization failed (code "));

Serial.print(devStatus);

Serial.println(F(")"));

}

// configure LED for output

pinMode(LED_PIN, OUTPUT);

}

// ================================================================

// === MAIN PROGRAM LOOP ===

// ================================================================

void loop() {

// if programming failed, don't try to do anything

if (!dmpReady) return;

// wait for MPU interrupt or extra packet(s) available

while (!mpuInterrupt && fifoCount < packetSize) {

if (mpuInterrupt && fifoCount < packetSize) {

// try to get out of the infinite loop

fifoCount = mpu.getFIFOCount();

}

// other program behavior stuff here

// .

// .

// .

// if you are really paranoid you can frequently test in between other

// stuff to see if mpuInterrupt is true, and if so, "break;" from the

// while() loop to immediately process the MPU data

// .

// .

// .

}

// reset interrupt flag and get INT_STATUS byte

mpuInterrupt = false;

mpuIntStatus = mpu.getIntStatus();

// get current FIFO count

fifoCount = mpu.getFIFOCount();

if(fifoCount < packetSize){

//Lets go back and wait for another interrupt. We shouldn't be here, we got an interrupt from another event

// This is blocking so don't do it while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

}

// check for overflow (this should never happen unless our code is too inefficient)

else if ((mpuIntStatus & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {

// reset so we can continue cleanly

mpu.resetFIFO();

// fifoCount = mpu.getFIFOCount(); // will be zero after reset no need to ask

Serial.println(F("FIFO overflow!"));

// otherwise, check for DMP data ready interrupt (this should happen frequently)

} else if (mpuIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)) {

// read a packet from FIFO

while(fifoCount >= packetSize){ // Lets catch up to NOW, someone is using the dreaded delay()!

mpu.getFIFOBytes(fifoBuffer, packetSize);

// track FIFO count here in case there is > 1 packet available

// (this lets us immediately read more without waiting for an interrupt)

fifoCount -= packetSize;

}

#ifdef OUTPUT_READABLE_QUATERNION

// display quaternion values in easy matrix form: w x y z

mpu.dmpGetQuaternion(&q, fifoBuffer);

Serial.print("quat\t");

Serial.print(q.w);

Serial.print("\t");

Serial.print(q.x);

Serial.print("\t");

Serial.print(q.y);

Serial.print("\t");

Serial.println(q.z);

#endif

#ifdef OUTPUT_READABLE_EULER

// display Euler angles in degrees

mpu.dmpGetQuaternion(&q, fifoBuffer);

mpu.dmpGetEuler(euler, &q);

Serial.print("euler\t");

Serial.print(euler[0] * 180/M_PI);

Serial.print("\t");

Serial.print(euler[1] * 180/M_PI);

Serial.print("\t");

Serial.println(euler[2] * 180/M_PI);

#endif

#ifdef OUTPUT_READABLE_YAWPITCHROLL

// display Euler angles in degrees

mpu.dmpGetQuaternion(&q, fifoBuffer);

mpu.dmpGetGravity(&gravity, &q);

mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

Serial.print("ypr\t");

Serial.print(ypr[0] * 180/M_PI);

Serial.print("\t");

Serial.print(ypr[1] * 180/M_PI);

Serial.print("\t");

Serial.println(ypr[2] * 180/M_PI);

#endif

#ifdef OUTPUT_READABLE_REALACCEL

// display real acceleration, adjusted to remove gravity

mpu.dmpGetQuaternion(&q, fifoBuffer);

mpu.dmpGetAccel(&aa, fifoBuffer);

mpu.dmpGetGravity(&gravity, &q);

mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);

Serial.print("areal\t");

Serial.print(aaReal.x);

Serial.print("\t");

Serial.print(aaReal.y);

Serial.print("\t");

Serial.println(aaReal.z);

#endif

#ifdef OUTPUT_READABLE_WORLDACCEL

// display initial world-frame acceleration, adjusted to remove gravity

// and rotated based on known orientation from quaternion

mpu.dmpGetQuaternion(&q, fifoBuffer);

mpu.dmpGetAccel(&aa, fifoBuffer);

mpu.dmpGetGravity(&gravity, &q);

mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);

mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);

Serial.print("aworld\t");

Serial.print(aaWorld.x);

Serial.print("\t");

Serial.print(aaWorld.y);

Serial.print("\t");

Serial.println(aaWorld.z);

#endif

#ifdef OUTPUT_TEAPOT

// display quaternion values in InvenSense Teapot demo format:

teapotPacket[2] = fifoBuffer[0];

teapotPacket[3] = fifoBuffer[1];

teapotPacket[4] = fifoBuffer[4];

teapotPacket[5] = fifoBuffer[5];

teapotPacket[6] = fifoBuffer[8];

teapotPacket[7] = fifoBuffer[9];

teapotPacket[8] = fifoBuffer[12];

teapotPacket[9] = fifoBuffer[13];

Serial.write(teapotPacket, 14);

teapotPacket[11]++; // packetCount, loops at 0xFF on purpose

#endif

// blink LED to indicate activity

blinkState = !blinkState;

digitalWrite(LED_PIN, blinkState);

}

}