224b5b744d
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>
62 lines
1.8 KiB
ReStructuredText
62 lines
1.8 KiB
ReStructuredText
.. zephyr:code-sample:: mpu6050
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:name: MPU6050 motion tracking device
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:relevant-api: sensor_interface
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Get temperature, acceleration, and angular velocity from an MPU6050 sensor (polling & trigger
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mode).
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Description
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***********
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This sample application periodically (0.5 Hz) measures the sensor
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temperature, acceleration, and angular velocity, displaying the values
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on the console along with a timestamp since startup.
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When triggered mode is enabled the measurements are displayed at a rate
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of 32Hz governed by the sensor's internal clock and divider.
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Wiring
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*******
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This sample uses an external breakout for the sensor. A devicetree
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overlay must be provided to identify the I2C bus and GPIO used to
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control the sensor.
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Building and Running
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********************
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After providing a devicetree overlay that specifies the sensor location,
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build this sample app using:
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.. zephyr-app-commands::
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:zephyr-app: samples/sensor/mpu6050
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:board: nrf52dk/nrf52832
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:goals: build flash
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Sample Output
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=============
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.. code-block:: console
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*** Booting Zephyr OS build zephyr-v2.1.0-576-g4b38659b0661 ***
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[0:00:00.008]:23.6359 Cel
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accel -5.882554 -6.485893 5.868188 m/s/s
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gyro 0.014522 0.002264 -0.036905 rad/s
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[0:00:02.020]:23.6359 Cel
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accel -5.841853 -6.435615 5.911283 m/s/s
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gyro 0.017852 0.001199 -0.034640 rad/s
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[0:00:04.032]:23.6829 Cel
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accel -5.930438 -6.461951 6.009446 m/s/s
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gyro 0.012923 0.002131 -0.037171 rad/s
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[0:00:06.044]:23.6359 Cel
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accel -5.884948 -6.524200 5.961562 m/s/s
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gyro 0.012390 -0.001732 -0.045964 rad/s
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[0:00:08.056]:35.7712 Cel
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accel -5.863400 -12.872426 -0.154427 m/s/s
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gyro -0.034373 -0.034373 -0.034373 rad/s
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[0:00:10.068]:23.6829 Cel
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accel -5.906496 -6.461951 5.899312 m/s/s
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gyro 0.015321 -0.000399 -0.039169 rad/s
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<repeats endlessly>
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