In this post we will go over how to use the MPU6050 accelerometer and gyroscope module (GY-521) with Arduino. We’ll focus on basics, module pins, how to connect to Arduino, programming in Arduino IDE, and testing. We will also show how to use the sensor along with processing IDE to visualize the readings from the accelerometer / gyroscope.
What is an MPU6050
The MPU6050 is a sensor module with a 3-axis accelerometer and a 3-axis gyroscope, meaning it can be used to measure acceleration in the X, Y, and Z axes, and also measure rotational velocity along those same axes.
What is a gyroscope
A gyroscope sensor is a used to measure angular velocity. When combined with an accelerometer sensor, we can obtain relatively accurate results in regards to absolute angular position.
What is an accelerometer
An accelerometer is a sensor used to measure acceleration (rate of change of an body’s velocity).
MPU6050 Specs, Pins, and Connection to Arduino
Specs:
Accelerometer Ranges: ±2g, ±4g, ±8g, ±16g
Gyroscope Range (deg/s): ±250, ±500, ±1,000, ±2,000
Input Voltage: 3.3V- 5.0V
Pins:
VCC – Power Input pin
GND – Ground pin
SCL – I2C Clock pin
SDA – I2C Data pin
XDA – External I2C Data pin
XCL – External I2C Clock pin
ADO – I2C address change pin
INT – Interrupt pin
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Required Arduino Libraries
To use the MPU6050 sensor with Arduino, you will need to install the MPU6050 library.
Installing the MPU6050 Library
To install the MPU6050 library go to the top menu, click on “Sketch”, then “Include Library”, “Manage Libraries…”. Then type “MPU6050”, then click install on the row for the MPU6050 library.
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Arduino Code
In this section we will go over 2 pieces of code. One is used for a stand-alone application to obtain the accelerations and roll/pitch/yaw angles. The other is used to visualize the angular orientation of an object using Processing IDE.
Stand-alone application
The code below was slightly modified from an example within the MPU6050 library. If you want to access this example yourself (after installing the library), follow these steps: Click on “File” on the top menu, then go to “Examples”, then under “Examples from Custom Libraries” go to “MPU6050”, then click on “MPU6050_DMP6”. This will open the example file that was used for the code below. The only difference between the code below and the example is that I uncommented line #110.
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110 |
#define OUTPUT_READABLE_REALACCEL |
This allows the code to output the sensors acceleration relative to the sensor’s reference frame (the x direction stays consistent from the sensor’s point of view). If you need the acceleration adjusted to the world frame of reference then don’t uncomment line #110. Instead uncomment line #116.
Click to expand
If you just want to copy and paste the code to test your MPU6050, then click on the gray section below to expand the Arduino code.
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// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) // 6/21/2012 by Jeff Rowberg <jeff@rowberg.net> // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: // 2019-07-08 - Added Auto Calibration and offset generator // - and altered FIFO retrieval sequence to avoid using blocking code // 2016-04-18 - Eliminated a potential infinite loop // 2013-05-08 - added seamless Fastwire support // - added note about gyro calibration // 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error // 2012-06-20 - improved FIFO overflow handling and simplified read process // 2012-06-19 - completely rearranged DMP initialization code and simplification // 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly // 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING // 2012-06-05 - add gravity-compensated initial reference frame acceleration output // - add 3D math helper file to DMP6 example sketch // - add Euler output and Yaw/Pitch/Roll output formats // 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee) // 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250 // 2012-05-30 - basic DMP initialization working /* ============================================ I2Cdev device library code is placed under the MIT license Copyright (c) 2012 Jeff Rowberg Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. =============================================== */ // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files // for both classes must be in the include path of your project #include "I2Cdev.h" #include "MPU6050_6Axis_MotionApps20.h" //#include "MPU6050.h" // not necessary if using MotionApps include file // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation // is used in I2Cdev.h #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h" #endif // class default I2C address is 0x68 // specific I2C addresses may be passed as a parameter here // AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) // AD0 high = 0x69 MPU6050 mpu; //MPU6050 mpu(0x69); // <-- use for AD0 high /* ========================================================================= NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch depends on the MPU-6050's INT pin being connected to the Arduino's external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is digital I/O pin 2. * ========================================================================= */ /* ========================================================================= NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error when using Serial.write(buf, len). The Teapot output uses this method. The solution requires a modification to the Arduino USBAPI.h file, which is fortunately simple, but annoying. This will be fixed in the next IDE release. For more info, see these links: http://arduino.cc/forum/index.php/topic,109987.0.html http://code.google.com/p/arduino/issues/detail?id=958 * ========================================================================= */ // uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual // quaternion components in a [w, x, y, z] format (not best for parsing // on a remote host such as Processing or something though) //#define OUTPUT_READABLE_QUATERNION // uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles // (in degrees) calculated from the quaternions coming from the FIFO. // Note that Euler angles suffer from gimbal lock (for more info, see // http://en.wikipedia.org/wiki/Gimbal_lock) //#define OUTPUT_READABLE_EULER // uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ // pitch/roll angles (in degrees) calculated from the quaternions coming // from the FIFO. Note this also requires gravity vector calculations. // Also note that yaw/pitch/roll angles suffer from gimbal lock (for // more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) #define OUTPUT_READABLE_YAWPITCHROLL // uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration // components with gravity removed. This acceleration reference frame is // not compensated for orientation, so +X is always +X according to the // sensor, just without the effects of gravity. If you want acceleration // compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. #define OUTPUT_READABLE_REALACCEL // uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration // components with gravity removed and adjusted for the world frame of // reference (yaw is relative to initial orientation, since no magnetometer // is present in this case). Could be quite handy in some cases. //#define OUTPUT_READABLE_WORLDACCEL // uncomment "OUTPUT_TEAPOT" if you want output that matches the // format used for the InvenSense teapot demo //define OUTPUT_TEAPOT #define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards #define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) bool blinkState = false; // MPU control/status vars bool dmpReady = false; // set true if DMP init was successful uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) uint16_t packetSize; // expected DMP packet size (default is 42 bytes) uint16_t fifoCount; // count of all bytes currently in FIFO uint8_t fifoBuffer[64]; // FIFO storage buffer // orientation/motion vars Quaternion q; // [w, x, y, z] quaternion container VectorInt16 aa; // [x, y, z] accel sensor measurements VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements VectorFloat gravity; // [x, y, z] gravity vector float euler[3]; // [psi, theta, phi] Euler angle container float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector // packet structure for InvenSense teapot demo uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; // ================================================================ // === INTERRUPT DETECTION ROUTINE === // ================================================================ volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high void dmpDataReady() { mpuInterrupt = true; } // ================================================================ // === INITIAL SETUP === // ================================================================ void setup() { // join I2C bus (I2Cdev library doesn't do this automatically) #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif // initialize serial communication // (115200 chosen because it is required for Teapot Demo output, but it's // really up to you depending on your project) Serial.begin(115200); while (!Serial); // wait for Leonardo enumeration, others continue immediately // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to // the baud timing being too misaligned with processor ticks. You must use // 38400 or slower in these cases, or use some kind of external separate // crystal solution for the UART timer. // initialize device Serial.println(F("Initializing I2C devices...")); mpu.initialize(); pinMode(INTERRUPT_PIN, INPUT); // verify connection Serial.println(F("Testing device connections...")); Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); // wait for ready Serial.println(F("\nSend any character to begin DMP programming and demo: ")); while (Serial.available() && Serial.read()); // empty buffer while (!Serial.available()); // wait for data while (Serial.available() && Serial.read()); // empty buffer again // load and configure the DMP Serial.println(F("Initializing DMP...")); devStatus = mpu.dmpInitialize(); // supply your own gyro offsets here, scaled for min sensitivity mpu.setXGyroOffset(220); mpu.setYGyroOffset(76); mpu.setZGyroOffset(-85); mpu.setZAccelOffset(1788); // 1688 factory default for my test chip // make sure it worked (returns 0 if so) if (devStatus == 0) { // Calibration Time: generate offsets and calibrate our MPU6050 mpu.CalibrateAccel(6); mpu.CalibrateGyro(6); mpu.PrintActiveOffsets(); // turn on the DMP, now that it's ready Serial.println(F("Enabling DMP...")); mpu.setDMPEnabled(true); // enable Arduino interrupt detection Serial.print(F("Enabling interrupt detection (Arduino external interrupt ")); Serial.print(digitalPinToInterrupt(INTERRUPT_PIN)); Serial.println(F(")...")); attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING); mpuIntStatus = mpu.getIntStatus(); // set our DMP Ready flag so the main loop() function knows it's okay to use it Serial.println(F("DMP ready! Waiting for first interrupt...")); dmpReady = true; // get expected DMP packet size for later comparison packetSize = mpu.dmpGetFIFOPacketSize(); } else { // ERROR! // 1 = initial memory load failed // 2 = DMP configuration updates failed // (if it's going to break, usually the code will be 1) Serial.print(F("DMP Initialization failed (code ")); Serial.print(devStatus); Serial.println(F(")")); } // configure LED for output pinMode(LED_PIN, OUTPUT); } // ================================================================ // === MAIN PROGRAM LOOP === // ================================================================ void loop() { // if programming failed, don't try to do anything if (!dmpReady) return; // wait for MPU interrupt or extra packet(s) available while (!mpuInterrupt && fifoCount < packetSize) { if (mpuInterrupt && fifoCount < packetSize) { // try to get out of the infinite loop fifoCount = mpu.getFIFOCount(); } // other program behavior stuff here // . // . // . // if you are really paranoid you can frequently test in between other // stuff to see if mpuInterrupt is true, and if so, "break;" from the // while() loop to immediately process the MPU data // . // . // . } // reset interrupt flag and get INT_STATUS byte mpuInterrupt = false; mpuIntStatus = mpu.getIntStatus(); // get current FIFO count fifoCount = mpu.getFIFOCount(); if(fifoCount < packetSize){ //Lets go back and wait for another interrupt. We shouldn't be here, we got an interrupt from another event // This is blocking so don't do it while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); } // check for overflow (this should never happen unless our code is too inefficient) else if ((mpuIntStatus & (0x01 << MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) { // reset so we can continue cleanly mpu.resetFIFO(); // fifoCount = mpu.getFIFOCount(); // will be zero after reset no need to ask Serial.println(F("FIFO overflow!")); // otherwise, check for DMP data ready interrupt (this should happen frequently) } else if (mpuIntStatus & (0x01 << MPU6050_INTERRUPT_DMP_INT_BIT)) { // read a packet from FIFO while(fifoCount >= packetSize){ // Lets catch up to NOW, someone is using the dreaded delay()! mpu.getFIFOBytes(fifoBuffer, packetSize); // track FIFO count here in case there is > 1 packet available // (this lets us immediately read more without waiting for an interrupt) fifoCount -= packetSize; } #ifdef OUTPUT_READABLE_QUATERNION // display quaternion values in easy matrix form: w x y z mpu.dmpGetQuaternion(&q, fifoBuffer); Serial.print("quat\t"); Serial.print(q.w); Serial.print("\t"); Serial.print(q.x); Serial.print("\t"); Serial.print(q.y); Serial.print("\t"); Serial.println(q.z); #endif #ifdef OUTPUT_READABLE_EULER // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetEuler(euler, &q); Serial.print("euler\t"); Serial.print(euler[0] * 180/M_PI); Serial.print("\t"); Serial.print(euler[1] * 180/M_PI); Serial.print("\t"); Serial.println(euler[2] * 180/M_PI); #endif #ifdef OUTPUT_READABLE_YAWPITCHROLL // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); Serial.print("ypr\t"); Serial.print(ypr[0] * 180/M_PI); Serial.print("\t"); Serial.print(ypr[1] * 180/M_PI); Serial.print("\t"); Serial.println(ypr[2] * 180/M_PI); #endif #ifdef OUTPUT_READABLE_REALACCEL // display real acceleration, adjusted to remove gravity mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); Serial.print("areal\t"); Serial.print(aaReal.x); Serial.print("\t"); Serial.print(aaReal.y); Serial.print("\t"); Serial.println(aaReal.z); #endif #ifdef OUTPUT_READABLE_WORLDACCEL // display initial world-frame acceleration, adjusted to remove gravity // and rotated based on known orientation from quaternion mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); Serial.print("aworld\t"); Serial.print(aaWorld.x); Serial.print("\t"); Serial.print(aaWorld.y); Serial.print("\t"); Serial.println(aaWorld.z); #endif #ifdef OUTPUT_TEAPOT // display quaternion values in InvenSense Teapot demo format: teapotPacket[2] = fifoBuffer[0]; teapotPacket[3] = fifoBuffer[1]; teapotPacket[4] = fifoBuffer[4]; teapotPacket[5] = fifoBuffer[5]; teapotPacket[6] = fifoBuffer[8]; teapotPacket[7] = fifoBuffer[9]; teapotPacket[8] = fifoBuffer[12]; teapotPacket[9] = fifoBuffer[13]; Serial.write(teapotPacket, 14); teapotPacket[11]++; // packetCount, loops at 0xFF on purpose #endif // blink LED to indicate activity blinkState = !blinkState; digitalWrite(LED_PIN, blinkState); } } |
Stand-alone application output
On the right we have a screenshot of the output in the Arduino IDE serial monitor after running the code to test the MPU6050 based on the code above showing angular orientation (Yaw/Pitch/Roll) and acceleration (relative to the MPU6050’s orientation). I overlaid an image of the sensor and reference axis for reference.
Angular Orientation is shown as ypr (Yaw, Pitch, Roll) in degrees relative to the starting position of the sensor’s X, Y, and Z axes.
Acceleration is shown as a number that can go as high as 32,750, where 32,750 is the maximum acceleration. The meaning of the 32,750 value will depend on the chosen acceleration limit. Options are 2g, 4g, 8g, and 16g, where g = 9.81 m/s2 (or 32.19 ft/s2). The default setting for the accelerometer is 2g. Meaning 1g = 16,375. The output will be acceleration along the sensor’s x-axis, then the y-axis, finally the z-axis.
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3D Model Visualization in Processing using values from MPU6050 with Arduino.
In this section we will show you how to do some 3D Model Visualization using the outputs from the MPU6050 so you can get something similar to the GIF shown on the right!
In order to do this, you will need to install Processing IDE, which will allow you to do the actual 3D visualization.
Installing Processing IDE
To download Processing IDE, go to to the following LINK and click the download option that corresponds to your computer’s operating system. Once you do, a ZIP file will start being downloaded. Once downloaded, extract the files from the ZIP file. Next, you will need to install a Library for Processing IDE.
Installing Toxic Library for Processing IDE
To install the Toxic library within Processing IDE, follow these steps:
- Open Processing IDE – Go to the folder that was extracted from the ZIP File and open it, within this folder, you will see a file called “processing.exe”, open it.
- Click Add Library – Once you are in Processing IDE:
- Go to the top menu.
- Go to Sketch.
- Go Import Library.
- Then click on Add Library.
- Search and Install Toxic Library – Once the Contributions Manager opens:
- Type “Toxic” in the search library.
- Select the Toxiclibs library.
- At the bottom of the Contributions Manager click “Install”. It will first download and then begin installing automatically.
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Click to enlarge
Arduino Code for 3D Visualization
You will need to use the Arduino code below to enable sending the MPU6050 data to Processing IDE instead of sending it to the Serial Monitor.
The code below was slightly modified from an example within the MPU6050 library. If you want to access this example yourself (after installing the library), follow these steps within Arduino IDE: Click on “File” on the top menu, then go to “Examples”, then under “Examples from Custom Libraries” go to “MPU6050”, then click on “MPU6050_DMP6”. This will open the example file that was used for the code below. The only difference between the code below and the example is that I uncommented line #120.
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120 |
#define OUTPUT_TEAPOT |
You also need to make sure that lines 90, 96, 103, 110, and 116 are all commented out with a “//”.
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90 |
//#define OUTPUT_READABLE_QUATERNION |
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96 |
//#define OUTPUT_READABLE_EULER |
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103 |
//#define OUTPUT_READABLE_YAWPITCHROLL |
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110 |
//#define OUTPUT_READABLE_REALACCEL |
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116 |
//#define OUTPUT_READABLE_WORLDACCEL |
If you just want to copy and paste the code to test your MPU6050, then click on the gray section below to expand the Arduino code.
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// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) // 6/21/2012 by Jeff Rowberg <jeff@rowberg.net> // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: // 2019-07-08 - Added Auto Calibration and offset generator // - and altered FIFO retrieval sequence to avoid using blocking code // 2016-04-18 - Eliminated a potential infinite loop // 2013-05-08 - added seamless Fastwire support // - added note about gyro calibration // 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error // 2012-06-20 - improved FIFO overflow handling and simplified read process // 2012-06-19 - completely rearranged DMP initialization code and simplification // 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly // 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING // 2012-06-05 - add gravity-compensated initial reference frame acceleration output // - add 3D math helper file to DMP6 example sketch // - add Euler output and Yaw/Pitch/Roll output formats // 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee) // 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250 // 2012-05-30 - basic DMP initialization working /* ============================================ I2Cdev device library code is placed under the MIT license Copyright (c) 2012 Jeff Rowberg Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. =============================================== */ // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files // for both classes must be in the include path of your project #include "I2Cdev.h" #include "MPU6050_6Axis_MotionApps20.h" //#include "MPU6050.h" // not necessary if using MotionApps include file // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation // is used in I2Cdev.h #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h" #endif // class default I2C address is 0x68 // specific I2C addresses may be passed as a parameter here // AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) // AD0 high = 0x69 MPU6050 mpu; //MPU6050 mpu(0x69); // <-- use for AD0 high /* ========================================================================= NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch depends on the MPU-6050's INT pin being connected to the Arduino's external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is digital I/O pin 2. * ========================================================================= */ /* ========================================================================= NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error when using Serial.write(buf, len). The Teapot output uses this method. The solution requires a modification to the Arduino USBAPI.h file, which is fortunately simple, but annoying. This will be fixed in the next IDE release. For more info, see these links: http://arduino.cc/forum/index.php/topic,109987.0.html http://code.google.com/p/arduino/issues/detail?id=958 * ========================================================================= */ // uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual // quaternion components in a [w, x, y, z] format (not best for parsing // on a remote host such as Processing or something though) //#define OUTPUT_READABLE_QUATERNION // uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles // (in degrees) calculated from the quaternions coming from the FIFO. // Note that Euler angles suffer from gimbal lock (for more info, see // http://en.wikipedia.org/wiki/Gimbal_lock) //#define OUTPUT_READABLE_EULER // uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ // pitch/roll angles (in degrees) calculated from the quaternions coming // from the FIFO. Note this also requires gravity vector calculations. // Also note that yaw/pitch/roll angles suffer from gimbal lock (for // more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) //#define OUTPUT_READABLE_YAWPITCHROLL // uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration // components with gravity removed. This acceleration reference frame is // not compensated for orientation, so +X is always +X according to the // sensor, just without the effects of gravity. If you want acceleration // compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. //#define OUTPUT_READABLE_REALACCEL // uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration // components with gravity removed and adjusted for the world frame of // reference (yaw is relative to initial orientation, since no magnetometer // is present in this case). Could be quite handy in some cases. //#define OUTPUT_READABLE_WORLDACCEL // uncomment "OUTPUT_TEAPOT" if you want output that matches the // format used for the InvenSense teapot demo #define OUTPUT_TEAPOT #define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards #define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) bool blinkState = false; // MPU control/status vars bool dmpReady = false; // set true if DMP init was successful uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) uint16_t packetSize; // expected DMP packet size (default is 42 bytes) uint16_t fifoCount; // count of all bytes currently in FIFO uint8_t fifoBuffer[64]; // FIFO storage buffer // orientation/motion vars Quaternion q; // [w, x, y, z] quaternion container VectorInt16 aa; // [x, y, z] accel sensor measurements VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements VectorFloat gravity; // [x, y, z] gravity vector float euler[3]; // [psi, theta, phi] Euler angle container float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector // packet structure for InvenSense teapot demo uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; // ================================================================ // === INTERRUPT DETECTION ROUTINE === // ================================================================ volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high void dmpDataReady() { mpuInterrupt = true; } // ================================================================ // === INITIAL SETUP === // ================================================================ void setup() { // join I2C bus (I2Cdev library doesn't do this automatically) #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif // initialize serial communication // (115200 chosen because it is required for Teapot Demo output, but it's // really up to you depending on your project) Serial.begin(115200); while (!Serial); // wait for Leonardo enumeration, others continue immediately // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to // the baud timing being too misaligned with processor ticks. You must use // 38400 or slower in these cases, or use some kind of external separate // crystal solution for the UART timer. // initialize device Serial.println(F("Initializing I2C devices...")); mpu.initialize(); pinMode(INTERRUPT_PIN, INPUT); // verify connection Serial.println(F("Testing device connections...")); Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); // wait for ready Serial.println(F("\nSend any character to begin DMP programming and demo: ")); while (Serial.available() && Serial.read()); // empty buffer while (!Serial.available()); // wait for data while (Serial.available() && Serial.read()); // empty buffer again // load and configure the DMP Serial.println(F("Initializing DMP...")); devStatus = mpu.dmpInitialize(); // supply your own gyro offsets here, scaled for min sensitivity mpu.setXGyroOffset(220); mpu.setYGyroOffset(76); mpu.setZGyroOffset(-85); mpu.setZAccelOffset(1788); // 1688 factory default for my test chip // make sure it worked (returns 0 if so) if (devStatus == 0) { // Calibration Time: generate offsets and calibrate our MPU6050 mpu.CalibrateAccel(6); mpu.CalibrateGyro(6); mpu.PrintActiveOffsets(); // turn on the DMP, now that it's ready Serial.println(F("Enabling DMP...")); mpu.setDMPEnabled(true); // enable Arduino interrupt detection Serial.print(F("Enabling interrupt detection (Arduino external interrupt ")); Serial.print(digitalPinToInterrupt(INTERRUPT_PIN)); Serial.println(F(")...")); attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING); mpuIntStatus = mpu.getIntStatus(); // set our DMP Ready flag so the main loop() function knows it's okay to use it Serial.println(F("DMP ready! Waiting for first interrupt...")); dmpReady = true; // get expected DMP packet size for later comparison packetSize = mpu.dmpGetFIFOPacketSize(); } else { // ERROR! // 1 = initial memory load failed // 2 = DMP configuration updates failed // (if it's going to break, usually the code will be 1) Serial.print(F("DMP Initialization failed (code ")); Serial.print(devStatus); Serial.println(F(")")); } // configure LED for output pinMode(LED_PIN, OUTPUT); } // ================================================================ // === MAIN PROGRAM LOOP === // ================================================================ void loop() { // if programming failed, don't try to do anything if (!dmpReady) return; // wait for MPU interrupt or extra packet(s) available while (!mpuInterrupt && fifoCount < packetSize) { if (mpuInterrupt && fifoCount < packetSize) { // try to get out of the infinite loop fifoCount = mpu.getFIFOCount(); } // other program behavior stuff here // . // . // . // if you are really paranoid you can frequently test in between other // stuff to see if mpuInterrupt is true, and if so, "break;" from the // while() loop to immediately process the MPU data // . // . // . } // reset interrupt flag and get INT_STATUS byte mpuInterrupt = false; mpuIntStatus = mpu.getIntStatus(); // get current FIFO count fifoCount = mpu.getFIFOCount(); if(fifoCount < packetSize){ //Lets go back and wait for another interrupt. We shouldn't be here, we got an interrupt from another event // This is blocking so don't do it while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); } // check for overflow (this should never happen unless our code is too inefficient) else if ((mpuIntStatus & (0x01 << MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) { // reset so we can continue cleanly mpu.resetFIFO(); // fifoCount = mpu.getFIFOCount(); // will be zero after reset no need to ask Serial.println(F("FIFO overflow!")); // otherwise, check for DMP data ready interrupt (this should happen frequently) } else if (mpuIntStatus & (0x01 << MPU6050_INTERRUPT_DMP_INT_BIT)) { // read a packet from FIFO while(fifoCount >= packetSize){ // Lets catch up to NOW, someone is using the dreaded delay()! mpu.getFIFOBytes(fifoBuffer, packetSize); // track FIFO count here in case there is > 1 packet available // (this lets us immediately read more without waiting for an interrupt) fifoCount -= packetSize; } #ifdef OUTPUT_READABLE_QUATERNION // display quaternion values in easy matrix form: w x y z mpu.dmpGetQuaternion(&q, fifoBuffer); Serial.print("quat\t"); Serial.print(q.w); Serial.print("\t"); Serial.print(q.x); Serial.print("\t"); Serial.print(q.y); Serial.print("\t"); Serial.println(q.z); #endif #ifdef OUTPUT_READABLE_EULER // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetEuler(euler, &q); Serial.print("euler\t"); Serial.print(euler[0] * 180/M_PI); Serial.print("\t"); Serial.print(euler[1] * 180/M_PI); Serial.print("\t"); Serial.println(euler[2] * 180/M_PI); #endif #ifdef OUTPUT_READABLE_YAWPITCHROLL // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); Serial.print("ypr\t"); Serial.print(ypr[0] * 180/M_PI); Serial.print("\t"); Serial.print(ypr[1] * 180/M_PI); Serial.print("\t"); Serial.println(ypr[2] * 180/M_PI); #endif #ifdef OUTPUT_READABLE_REALACCEL // display real acceleration, adjusted to remove gravity mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); Serial.print("areal\t"); Serial.print(aaReal.x); Serial.print("\t"); Serial.print(aaReal.y); Serial.print("\t"); Serial.println(aaReal.z); #endif #ifdef OUTPUT_READABLE_WORLDACCEL // display initial world-frame acceleration, adjusted to remove gravity // and rotated based on known orientation from quaternion mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); Serial.print("aworld\t"); Serial.print(aaWorld.x); Serial.print("\t"); Serial.print(aaWorld.y); Serial.print("\t"); Serial.println(aaWorld.z); #endif #ifdef OUTPUT_TEAPOT // display quaternion values in InvenSense Teapot demo format: teapotPacket[2] = fifoBuffer[0]; teapotPacket[3] = fifoBuffer[1]; teapotPacket[4] = fifoBuffer[4]; teapotPacket[5] = fifoBuffer[5]; teapotPacket[6] = fifoBuffer[8]; teapotPacket[7] = fifoBuffer[9]; teapotPacket[8] = fifoBuffer[12]; teapotPacket[9] = fifoBuffer[13]; Serial.write(teapotPacket, 14); teapotPacket[11]++; // packetCount, loops at 0xFF on purpose #endif // blink LED to indicate activity blinkState = !blinkState; digitalWrite(LED_PIN, blinkState); } } |
Code for Processing IDE to run with Arduino MPU6050 code
Once you have deployed the code above in your Arduino, go back to Processing IDE and go to File, then Open. Go to the folder where the MPU6050 Arduino library was installed. Once you get to the folder, open the Processing file with the name “MPU Teapot”.
Once you have deployed the code above in your Arduino, go back to Processing IDE and go to File, then Open. Go to the folder where the MPU6050 Arduino library was installed. Once you get to the folder, open the Processing file with the name “MPU Teapot”.
To find this file, go to the folder where all Arduino main files are located, then follow this path: Documents\Arduino\libraries\MPU6050\examples\MPU6050_DMP6\Processing\MPUTeapot.
If you have trouble finding the location of the main Arduino folder, within Arduino, click on File, then click on Preferences. Go to this folder and follow this path within Processing IDE (after clicking File –> Open).
Once you open the file, you will see the code displayed. There is no need to make any changes, but please do make sure that the Serial Monitor in Arduino IDE is closed, or simply close Arduino IDE altogether. Next, proceed to click the Run button in Processing IDE. Once you click, wait approximately 10 seconds before the 3D model shows up on a separate screen. By default, you will see the 3D model of an airplane. For display purposes, I went ahead and 3D printed a similar looking airplane object and attached an MPU6050 sensor to it. Below is a quick demonstration (same one I showed earlier in this post):
Click to enlarge
Click to enlarge
Components used in this example
*As an Amazon & Ebay Associate I earn from qualifying purchases.
| Component | Link |
| Arduino UNO | https://ebay.us/veZdKX https://amzn.to/3uYVAMC |
| MPU-6050 Accelerometer/Gyroscope (GY-521) | https://ebay.us/P5pZOv https://amzn.to/3aDP4Dz |