zephyr

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Tilmann Unte 224b5b744d drivers: sensor: mpu6050: scale settings to DT, adds sample rate setting Moves the MPU6050 accel/gyro scale settings from KConfig to Devicetree. Adds a new setting for the MPU6050 sample rate divider register and transmits it to the sensor upon initialization. This helps to reduce the interrupt firing rate when combined with the data ready trigger. A default division factor is provided which ensures compatibility with existing applications. The MPU6050 sample application is extended and used for hardware tests. Signed-off-by: Tilmann Unte <unte@es-augsburg.de>		2025-03-25 22:12:49 +01:00
..
boards
src
CMakeLists.txt
prj.conf
README.rst
sample.yaml

README.rst

.. zephyr:code-sample:: mpu6050
   :name: MPU6050 motion tracking device
   :relevant-api: sensor_interface

   Get temperature, acceleration, and angular velocity from an MPU6050 sensor (polling & trigger
   mode).

Description
***********

This sample application periodically (0.5 Hz) measures the sensor
temperature, acceleration, and angular velocity, displaying the values
on the console along with a timestamp since startup.

When triggered mode is enabled the measurements are displayed at a rate
of 32Hz governed by the sensor's internal clock and divider.

Wiring
*******

This sample uses an external breakout for the sensor.  A devicetree
overlay must be provided to identify the I2C bus and GPIO used to
control the sensor.

Building and Running
********************

After providing a devicetree overlay that specifies the sensor location,
build this sample app using:

.. zephyr-app-commands::
   :zephyr-app: samples/sensor/mpu6050
   :board: nrf52dk/nrf52832
   :goals: build flash

Sample Output
=============

.. code-block:: console

   *** Booting Zephyr OS build zephyr-v2.1.0-576-g4b38659b0661  ***
   [0:00:00.008]:23.6359 Cel
     accel -5.882554 -6.485893  5.868188 m/s/s
     gyro   0.014522  0.002264 -0.036905 rad/s
   [0:00:02.020]:23.6359 Cel
     accel -5.841853 -6.435615  5.911283 m/s/s
     gyro   0.017852  0.001199 -0.034640 rad/s
   [0:00:04.032]:23.6829 Cel
     accel -5.930438 -6.461951  6.009446 m/s/s
     gyro   0.012923  0.002131 -0.037171 rad/s
   [0:00:06.044]:23.6359 Cel
     accel -5.884948 -6.524200  5.961562 m/s/s
     gyro   0.012390 -0.001732 -0.045964 rad/s
   [0:00:08.056]:35.7712 Cel
     accel -5.863400 -12.872426 -0.154427 m/s/s
     gyro  -0.034373 -0.034373 -0.034373 rad/s
   [0:00:10.068]:23.6829 Cel
     accel -5.906496 -6.461951  5.899312 m/s/s
     gyro   0.015321 -0.000399 -0.039169 rad/s

<repeats endlessly>