====== lamaPLC: MPU-6050 (HW-123, GY-521) 6-axis MotionTracking device ======
{{ :sensor:mpu_6050.png?150|MPU-6050 6-axis MotionTracking device}}
The MPU-6050 (HW-123, GY-521) is a popular 6-axis motion-tracking sensor that combines a 3-axis gyroscope and a 3-axis accelerometer on a single chip. It is a MEMS device created to measure acceleration, rotational velocity, and orientation.

**Key Technical Specifications**

  * **Sensor Type:** 6-axis Inertial Measurement Unit (IMU) with an integrated temperature sensor.
  * **Resolution:** 16-bit analog-to-digital converters (ADCs) for all six channels, providing high-precision raw data.
  * **Programmable Ranges:**
    * **Gyroscope:** ±250, ±500, ±1000, and ±2000 °/sec.
    * **Accelerometer:** ±2g, ±4g, ±8g, and ±16g.
  * **Communication:** Primary interface is [[com:basic_i2c|I²C]] (up to 400 kHz).
  * **Operating Voltage:** 2.375V to 3.46V for the raw chip; common breakout modules like the GY-521 include a 3.3V regulator for 5V compatibility.
  * **I²C Addresses:** 0x68 (default) or 0x69 (selectable via the AD0 pin).

**Notable Features**

  * **Digital Motion Processor (DMP):** An on-chip co-processor that offloads complex sensor fusion calculations (like converting raw data into quaternions or Euler angles) from the main microcontroller.
  * **FIFO Buffer:** A 1024-byte buffer that allows the system processor to read data in bursts, reducing power consumption by letting the host stay in sleep mode longer.
  * **Auxiliary I²C Bus:** Allows the MPU-6050 to act as a master to external sensors, such as a 3rd-party magnetometer, to provide full 9-axis //"MotionFusion"// output.

==== Pinout Table (HW-123, GY-521) ====
|< 100%>|
^Pin Name^Description^Note|
^VCC|Power Supply|Typically 3V to 5V (due to onboard regulator).|
^GND|Ground|Common ground for the system.|
^SCL|I²C Serial Clock|Connect to MCU clock line (e.g., A5 on Uno).|
^SDA|I²C Serial Data|Connect to MCU data line (e.g., A4 on Uno).|
^XDA|Aux Serial Data|For connecting external I²C sensors (optional).|
^XCL|Aux Serial Clock|For connecting external I²C sensors (optional).|
^AD0|Address Select|Low (default) = 0x68; High = 0x69.|
^INT|Interrupt Output|Signals the MCU when new data is available.|

**Pin Functions & Wiring Tips**

  * **I²C Communication:** The module acts as a slave. SCL and SDA pins are essential for all basic operations.
  * **Multi-Sensor Setup:** Use the AD0 pin to change the I²C address if you need to use two MPU-6050s on the same bus.
  * **External Master:** The XDA and XCL pins allow the MPU-6050 to act as a master to a secondary sensor, such as a magnetometer, to create a 9-axis fusion system.
  * **Interrupts:** The INT pin can be programmed to trigger on specific events, such as //"Data Ready"// or //"Motion Detected,"// allowing the MCU to perform other tasks until needed. 

==== Arduino example code ====
To connect the MPU-6050 to an Arduino, the simplest method is to use the **Adafruit MPU6050** library, which handles I²C communication and converts raw data to standard units (//mls²// for acceleration and //rad/s// for rotation). 

This code initializes the sensor and prints real-time movement data to the Serial Monitor at 115200 baud.

<code c>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

Adafruit_MPU6050 mpu;

void setup(void) {
  Serial.begin(115200);
  if (!mpu.begin()) {
    while (1) { delay(10); } // Loop if sensor not found
  }
  // Optional: Set ranges
  mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
}

void loop() {
  sensors_event_t a, g, temp;
  mpu.getEvent(&a, &g, &temp);

  // Print accel and gyro data to Serial Monitor
  Serial.print(a.acceleration.x); Serial.print(", ");
  Serial.print(g.gyro.x); Serial.println();
  delay(500);
}
</code>

**Tips for Better Results**

  * **Calibration:** For precise motion tracking, calculate offsets (the average reading when the sensor is perfectly still) and subtract them from your raw data.
  * **Filtering:** If your readings are //"noisy,"// a Complementary Filter can help combine accelerometer and gyroscope data to produce a smoother orientation (tilt) estimate. 

===== I2C topics on lamaPLC =====
{{topic>i2c}}

{{tag>MPU-6050 HW-123 GY-521 6-axis_MotionTracking DMP temperature sensor MEMS arduino_code Arduino accelerometer gyroscope tilt}}

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