1.. zephyr:code-sample:: mpu6050
2   :name: MPU6050 motion tracking device
3   :relevant-api: sensor_interface
4
5   Get temperature, acceleration, and angular velocity from an MPU6050 sensor (polling & trigger
6   mode).
7
8Description
9***********
10
11This sample application periodically (0.5 Hz) measures the sensor
12temperature, acceleration, and angular velocity, displaying the values
13on the console along with a timestamp since startup.
14
15When triggered mode is enabled the measurements are displayed at the
16rate they are produced by the sensor.
17
18Wiring
19*******
20
21This sample uses an external breakout for the sensor.  A devicetree
22overlay must be provided to identify the I2C bus and GPIO used to
23control the sensor.
24
25Building and Running
26********************
27
28After providing a devicetree overlay that specifies the sensor location,
29build this sample app using:
30
31.. zephyr-app-commands::
32   :zephyr-app: samples/sensor/mpu6050
33   :board: nrf52dk/nrf52832
34   :goals: build flash
35
36Sample Output
37=============
38
39.. code-block:: console
40
41   *** Booting Zephyr OS build zephyr-v2.1.0-576-g4b38659b0661  ***
42   [0:00:00.008]:23.6359 Cel
43     accel -5.882554 -6.485893  5.868188 m/s/s
44     gyro   0.014522  0.002264 -0.036905 rad/s
45   [0:00:02.020]:23.6359 Cel
46     accel -5.841853 -6.435615  5.911283 m/s/s
47     gyro   0.017852  0.001199 -0.034640 rad/s
48   [0:00:04.032]:23.6829 Cel
49     accel -5.930438 -6.461951  6.009446 m/s/s
50     gyro   0.012923  0.002131 -0.037171 rad/s
51   [0:00:06.044]:23.6359 Cel
52     accel -5.884948 -6.524200  5.961562 m/s/s
53     gyro   0.012390 -0.001732 -0.045964 rad/s
54   [0:00:08.056]:35.7712 Cel
55     accel -5.863400 -12.872426 -0.154427 m/s/s
56     gyro  -0.034373 -0.034373 -0.034373 rad/s
57   [0:00:10.068]:23.6829 Cel
58     accel -5.906496 -6.461951  5.899312 m/s/s
59     gyro   0.015321 -0.000399 -0.039169 rad/s
60
61<repeats endlessly>
62