1.. _mpu6050:
2
3MPU6050: Invensense Motion Tracking Device
4##########################################
5
6Description
7***********
8
9This sample application periodically (0.5 Hz) measures the sensor
10temperature, acceleration, and angular velocity, displaying the values
11on the console along with a timestamp since startup.
12
13When triggered mode is enabled the measurements are displayed at the
14rate they are produced by the sensor.
15
16Wiring
17*******
18
19This sample uses an external breakout for the sensor.  A devicetree
20overlay must be provided to identify the I2C bus and GPIO used to
21control the sensor.
22
23Building and Running
24********************
25
26After providing a devicetree overlay that specifies the sensor location,
27build this sample app using:
28
29.. zephyr-app-commands::
30   :zephyr-app: samples/sensor/mpu6050
31   :board: nrf52dk_nrf52832
32   :goals: build flash
33
34Sample Output
35=============
36
37.. code-block:: console
38
39   *** Booting Zephyr OS build zephyr-v2.1.0-576-g4b38659b0661  ***
40   [0:00:00.008]:23.6359 Cel
41     accel -5.882554 -6.485893  5.868188 m/s/s
42     gyro   0.014522  0.002264 -0.036905 rad/s
43   [0:00:02.020]:23.6359 Cel
44     accel -5.841853 -6.435615  5.911283 m/s/s
45     gyro   0.017852  0.001199 -0.034640 rad/s
46   [0:00:04.032]:23.6829 Cel
47     accel -5.930438 -6.461951  6.009446 m/s/s
48     gyro   0.012923  0.002131 -0.037171 rad/s
49   [0:00:06.044]:23.6359 Cel
50     accel -5.884948 -6.524200  5.961562 m/s/s
51     gyro   0.012390 -0.001732 -0.045964 rad/s
52   [0:00:08.056]:35.7712 Cel
53     accel -5.863400 -12.872426 -0.154427 m/s/s
54     gyro  -0.034373 -0.034373 -0.034373 rad/s
55   [0:00:10.068]:23.6829 Cel
56     accel -5.906496 -6.461951  5.899312 m/s/s
57     gyro   0.015321 -0.000399 -0.039169 rad/s
58
59<repeats endlessly>
60