Teaching WIKI
- teawiki.net -

This MEMS device combines a 3-axis accelerometer and a 3-axis gyroscope.

On the official MPU-6050 website you find a link to the documentation including datasheet.

• MPU-6000/MPU-6050 Datasheet (pdf)

Some information is also provided in the Arduino Playground

The GY521 Module is a breakout board for the MPU-6050. It is also part of the Elegoo kit we are using in class.

The tutorial by Bill Jamshedji of DroneBot Workshop is an excellent point to start with. Bill is explaining how to build an electronic levelmeter based on the MPU-6050.

Bill Jamshedji, DroneBot Workshop
1. Tutorial Website	https://dronebotworkshop.com/mpu-6050-level/
2. Video Tutorial

https://mschoeffler.com/2017/10/05/tutorial-how-to-use-the-gy-521-module-mpu-6050-breakout-board-with-the-arduino-uno/

Follow the tutorial and build the device.

Remarks:

1. The I2C bus is a serial bus for inter-IC communication (IC: integrated circuit). There are other busses such as SPI and 1Wire.
2. 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.

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.

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 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.

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.

The MPU-6050 communicates via the I2C protocol, providing:

1. Accelerometer Data: Raw acceleration values for X, Y, and Z axes.

2. Gyroscope Data: Raw angular velocity values for X, Y, and Z axes.

3. Temperature Data: Internal temperature readings, useful for calibration and compensation.

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).

The versatility of the MPU-6050 makes it suitable for a wide range of applications:

• Robotics: Enables balance control, navigation, and motion tracking.
• 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.

The MPU-6050 can be interfaced with microcontrollers like the ESP32-S3 using the I2C protocol. Here's a brief overview:

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.

*This section is reserved for practical examples and code snippets demonstrating the use of the MPU-6050 with various microcontrollers and applications.*

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.

For detailed diagrams and further information, consider the following resources:

- Official Datasheet: [MPU-6050 Datasheet](https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf)

- 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/)