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--- supp:sensors:mpu-6050 [2024/04/23 12:07] – rolf
+++ supp:sensors:mpu-6050 [2025/05/07 08:34] (current) – [5. Interfacing with Microcontrollers] tasio
@@ Line 1: / Line 1: @@
 ~~NOTOC~~
-===== Accelerometer  MPU-6050 by Invensense / TDK =====
+====== Accelerometer and Gyroscope: MPU-6050 by InvenSense/TDK ======
-This MEMS device combines a 3-axis accelerometer and a 3-axis gyroscope.
+{{ :supp:sensors:mpu6050.png?direct&400 |}}
-On the [[https://invensense.tdk.com/products/motion-tracking/6-axis/mpu-6050/|official MPU-6050 website]] you find a link to the documentation including datasheet.
+Figure 1: by ElectroniCats, git hub
-  * {{https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf|MPU-6000/MPU-6050 Datasheet}} (pdf)
+===== 1. Introduction=====
-Some information is also provided in the [[https://playground.arduino.cc/Main/MPU-6050/|Arduino Playground]]
+The **MPU-6050** is a **6-axis** MEMS (Micro-Electro-Mechanical Systems) sensor that integrates a **3-axis accelerometer** and a **3-axis gyroscope** into a single compact package. This combination allows for comprehensive motion tracking and orientation detection, making it a popular choice in various applications, from robotics to wearable devices.
-The GY521 Module is a breakout board for the MPU-6050. It is also part of the Elegoo kit we are using in class.
+===== 2. Internal Working Principles =====
+{{ :supp:sensors:mpu6050_diagram.png?direct&600 |}}
+Figure 2: The MPU6050 Explained, available in: https://mjwhite8119.github.io/Robots/mpu6050
-==== Tutorial by DroneBot Workshop ====
+The **MPU-6050** operates based on the principles of MEMS technology, utilizing microscopic mechanical structures to sense motion.
+**Accelerometer:**
+  * **Capacitive Sensing:** Detects linear acceleration by measuring changes in capacitance caused by the displacement of a micro-machined proof mass within the sensor.
+  * **Axes Measurement:** Provides acceleration data along the X, Y, and Z axes, enabling detection of movement and orientation changes.
+**Gyroscope:**
+  * **Coriolis Effect:** Measures angular velocity by detecting the Coriolis force acting on vibrating elements within the sensor as it rotates.
+  * **Axes Measurement:** Captures rotational movement around the X, Y, and Z axes, essential for understanding orientation and rotational dynamics.
-The tutorial by **Bill Jamshedji** of [[https://dronebotworkshop.com/|DroneBot Workshop]] is an excellent point to start with. Bill is explaining **[[https://dronebotworkshop.com/mpu-6050-level/|how to build an electronic levelmeter]]** based on the MPU-6050.
+**Digital Motion Processor (DMP):**
+  * **Sensor Fusion:** Integrates data from the accelerometer and gyroscope to provide more accurate motion tracking.
+  * **Offloading Computation:** Processes complex calculations internally, reducing the computational load on the host microcontroller.
+===== 3. Output Data =====
-^  **Bill Jamshedji, DroneBot Workshop**  ^^
+The **MPU-6050** communicates via the **I2C** protocol, providing:
-| **1. Tutorial \\ Website** | **:!:  [[https://dronebotworkshop.com/mpu-6050-level/]]** |
-| **2. Video \\ Tutorial** | {{youtube>XCyRXMvVSCw?medium}} |
-==== Tutorial by Michael Schoeffler ====
+. **Accelerometer Data:** Raw acceleration values for X, Y, and Z axes.
-https://mschoeffler.com/2017/10/05/tutorial-how-to-use-the-gy-521-module-mpu-6050-breakout-board-with-the-arduino-uno/
+. **Gyroscope Data:** Raw angular velocity values for X, Y, and Z axes.
-==== Exercises ====
+. **Temperature Data:** Internal temperature readings, useful for calibration and compensation.
-=== 1. Build ===
+The sensor's output is typically in raw digital values, which require scaling and conversion to physical units (e.g., g for acceleration, °/s for angular velocity).
-Follow the tutorial and build the device.
+===== 4. Applications =====
-Remarks:
+The versatility of the **MPU-6050** makes it suitable for a wide range of applications:
-  - The I2C bus is a serial bus for inter-IC communication (IC: integrated circuit). There are other busses such as SPI and 1Wire.
+  * **Robotics:** Enables balance control, navigation, and motion tracking.
-  - The LED character display pins (several) are connected to an interface hardware which provides an I2C bus interface. You find such an interface in the cardbox I sent to you. It is a black PCB (printed circuit board) with 16 pins on one long side and 4 pins on a short side named GND, VCC, SDA, SCL. Use the second breadboard to connect display and I2C display interface.
+  * **Drones and UAVs:** Assists in flight stabilization and orientation control.
+  * **Wearable Devices:** Facilitates activity monitoring and gesture recognition.
+  * **Gaming Controllers:** Enhances user interaction through motion sensing.
+  * **Virtual Reality (VR):** Provides head tracking for immersive experiences.
+===== 5. Interfacing with Microcontrollers =====
-=== 2. Exercises on Git ===
+The **MPU-6050** can be interfaced with microcontrollers like the **ESP32-S3** using the I2C protocol. Here's a brief overview:
-I will push the second exercise sheet on Git. We have a problem with an expired certificate. Therefore I will push the repo elsewhere and let you know.
+**Wiring:**
+  * **VCC:** Connect to 3.3V (ensure voltage compatibility).
+  * **GND:** Connect to ground.
+  * **SDA:** Connect to the microcontroller's I2C data line.
+  * **SCL:** Connect to the microcontroller's I2C clock line.
+**Programming:**
+  * Utilize libraries such as ``Wire.h`` for I2C communication and ``MPU6050.h`` for sensor interaction.
+  * Initialize the sensor and configure settings like sensitivity and filter bandwidth.
+  * Read and process data from the accelerometer and gyroscope registers.
+**Note:** While the **ESP32-S3** operates at 3.3V logic levels, ensure that the **MPU-6050** module used is compatible with 3.3V to prevent damage.
+===== 6. Examples =====
+*This section is reserved for practical examples and code snippets demonstrating the use of the **MPU-6050** with various microcontrollers and applications.*
+===== 7. Troubleshooting and Optimization =====
+To ensure accurate and reliable data from the **MPU-6050**, consider the following:
+**Calibration:**
+  * Perform initial calibration to correct for sensor biases and offsets.
+  * Utilize available libraries or write custom routines to determine and apply calibration values.
+**Filtering:**
+  * Implement filters (e.g., complementary or Kalman filters) to reduce noise and improve data stability.
+  * Adjust filter parameters based on the specific application's dynamics and requirements.
+**Power Supply:**
+  * Ensure a stable and clean power supply to minimize voltage fluctuations that can affect sensor performance.
+**Physical Placement:**
+  * Mount the sensor securely to prevent vibrations and mechanical noise.
+  * Isolate the sensor from sources of electromagnetic interference.
+**Temperature Compensation:**
+  * Account for temperature-induced variations by monitoring the internal temperature sensor and applying compensation algorithms if necessary.
+===== 8. Resources and Diagrams =====
+For detailed diagrams and further information, consider the following resources:
+- **Official Datasheet:** MPU-6050 Datashee     https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf
+- __**LastMinuteEngineers** Clear explanation and examples__     https://lastminuteengineers.com/mpu6050-accel-gyro-arduino-tutorial/
+- **Arduino Playground:** MPU-6050 on Arduino Playground     https://playground.arduino.cc/Main/MPU-6050/
+- **DroneBot Workshop Tutorial:** Building an Electronic Level Meter     https://dronebotworkshop.com/mpu-6050-level/
+- **Michael Schoeffler's Tutorial:** Using GY-521 Module with Arduino Uno     https://mschoeffler.com/2017/10/05/tutorial-how-to-use-the-gy-521-module-mpu-6050-breakout-board-with-the-arduino-uno/   {{youtube>XCyRXMvVSCw?medium}}