1.. _icm42605: 2 3MPU6050: Invensense Motion Tracking Device 4########################################## 5 6Description 7*********** 8 9This sample application periodically (10 Hz) measures the sensor 10temperature, acceleration, and angular velocity, tap, double tap 11displaying the values on the console along with a timestamp since 12startup. 13 14Wiring 15******* 16 17This sample uses an external breakout for the sensor. A devicetree 18overlay must be provided to identify the SPI bus and GPIO used to 19control the sensor. 20 21Building and Running 22******************** 23 24After providing a devicetree overlay that specifies the sensor location, 25build this sample app using: 26 27.. zephyr-app-commands:: 28 :zephyr-app: samples/sensor/icm42605 29 :board: nrf52dk_nrf52832 30 :goals: build flash 31 32Sample Output 33============= 34 35.. code-block:: console 36 37 *** Booting Zephyr OS build zephyr-v2.1.0-576-g4b38659b0661 *** 38 [0:00:00.008]:23.6359 Cel 39 accel -5.882554 -6.485893 5.868188 m/s/s 40 gyro 0.014522 0.002264 -0.036905 rad/s 41 [0:00:02.020]:23.6359 Cel 42 accel -5.841853 -6.435615 5.911283 m/s/s 43 gyro 0.017852 0.001199 -0.034640 rad/s 44 [0:00:04.032]:23.6829 Cel 45 accel -5.930438 -6.461951 6.009446 m/s/s 46 gyro 0.012923 0.002131 -0.037171 rad/s 47 [0:00:06.044]:23.6359 Cel 48 accel -5.884948 -6.524200 5.961562 m/s/s 49 gyro 0.012390 -0.001732 -0.045964 rad/s 50 [0:00:08.056]:35.7712 Cel 51 accel -5.863400 -12.872426 -0.154427 m/s/s 52 gyro -0.034373 -0.034373 -0.034373 rad/s 53 [0:00:10.068]:23.6829 Cel 54 accel -5.906496 -6.461951 5.899312 m/s/s 55 gyro 0.015321 -0.000399 -0.039169 rad/s 56 57<repeats endlessly> 58