Welcome!
Thank you for purchasing our AZ-Delivery GY-521 MPU-6050 3-axis
Gyroscope and Acceleration sensor module. On the following pages, you
will be introduced to how to use and set-up this handy device.
Have fun!
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Table of Contents
Introduction....................................................................................................3
Specifications................................................................................................4
Features........................................................................................................5
Gyroscope Features..................................................................................5
Accelerometer Features.............................................................................6
The pinout.....................................................................................................7
How to set-up Arduino IDE............................................................................8
How to set-up the Raspberry Pi and Python...............................................12
Connecting the module with Uno.................................................................13
Sketch example.......................................................................................14
Connecting the module with Raspberry Pi..................................................18
Library and tools for Python.....................................................................19
Enabling the I2C interface........................................................................20
Python script............................................................................................22
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Introduction
The GY-521 is a module based on MPU6050 sensor chip which is a system
that combines a 3-axis gyroscope, a 3-axis accelerometer and a digital
thermometer. Its special feature is the built-in hardware DMP (Digital Motion
Processor) unit, which facilitates the conversion of processed data from all
three sensors to a specific position relative to the Earth, thus relieving the
microcontroller. The DMP unit can be programmed to also use an external
magnetometer for its calculations.
The MPU6050 features three 16-bit analog-to-digital converters (ADCs) for
digitizing the gyroscope outputs and three 16-bit ADCs for digitizing the
accelerometer outputs. For precision tracking of both fast and slow motions,
the parts feature a user-programmable gyroscope full-scale range of ±250,
±500, ±1000, and ±2000°/sec (dps) and a user-programmable
accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g.
The module has various applications such as Video/Still Image Stabilization,
Security/Authentication, “no touch” UI Application Control/Navigation,
technology (for Gesture Short-cuts) Motion-enabled game and application
framework, gesture recognition, Location based services, Handset and
portable gaming, Motion-based game controllers, 3D remote controls for
Internet connected DTVs and set top boxes, 3D mice, wearable sensors for
health, fitness and sports, Toys, etc.
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Specifications
Operating input voltage` 3V to 5V
Operating current 4mA ( max.)
Gyroscope operating current 3.6mA
Accelerometer operating current 500µA
Gyroscope range: +/- 250 500 1000 2000 degree/sec
Acceleration range +/- 2g, +/- 4g, +/- 8g, +/- 16g
Communication interface I2C
G-Force tolerance 10,000g (up to 0.2ms)
ADC Internal converter 16bit (high precision)
Operating temperature range -40 to +105℃
Dimensions 34x16x10mm (1.3x0.6x0.4in)
The module communicates through I2C protocol and it uses only two wires.
Additional two wires are for power supply.
The default I2C address is 0x68. By setting the AD0 pin to low, the modules
I2C address can be changed to 0x69 which allows other devices to be
connected with the I2C protocol.
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Features
Gyroscope Features
The triple-axis MEMS gyroscope in the MPU6050 includes a wide range of
features:
• Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with a
user-programmable full-scale range of ±250, ±500, ±1000, and ±2000°/sec
• External sync signal connected to the FSYNC pin supports image, video
and GPS synchronization
• Integrated 16-bit ADCs enable simultaneous sampling of gyros
• Enhanced bias and sensitivity temperature stability reduces the need for
user calibration
• Improved low-frequency noise performance
• Digitally-programmable low-pass filter
• Gyroscope operating current: 3.6mA
• Standby current: 5μA
• Factory calibrated sensitivity scale factor
• User self-test
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Accelerometer Features
The triple-axis MEMS accelerometer in MPU-60X0 includes a wide range of
features:
• Digital-output triple-axis accelerometer with a programmable full scale
range of ±2g, ±4g, ±8g and ±16g
• Integrated 16-bit ADCs enable simultaneous sampling of accelerometers
while requiring no external multiplexer
• Accelerometer normal operating current: 500μA
• Low power accelerometer mode current: 10μA at 1.25Hz, 20μA at 5Hz,
60μA at 20Hz, 110μA at 40Hz
• Orientation detection and signaling
• Tap detection
• User-programmable interrupts
• High-G interrupt
• User self-test
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The pinout
The module has eight pins. The pinout is shown on the following image:
INT - This is the interrupt pin. You can setup the MPU6050 to pull this low
when certain conditions are met such as new measurement data being
available. Consult the datasheet and register map for usage.
AD0 - I2C Address pin. Pulling this pin high or bridging the solder jumper on
the back will change the I2C address from 0x68 to 0x69.
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How to set-up Arduino IDE
If the Arduino IDE is not installed, follow the link and download the
installation file for the operating system of choice. The Arduino IDE version
used for this eBook is 1.8.13.
For Windows users, double click on the downloaded .exe file and follow
the instructions in the installation window.
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For Linux users, download a file with the extension .tar.xz, which has to
be extracted. When it is extracted, go to the extracted directory and open
the terminal in that directory. Two .sh scripts have to be executed, the first
called arduino-linux-setup.sh and the second called install.sh.
To run the first script in the terminal, open the terminal in the extracted
directory and run the following command:
sh arduino-linux-setup.sh user_name
user_name - is the name of a superuser in the Linux operating system. A
password for the superuser has to be entered when the command is
started. Wait for a few minutes for the script to complete everything.
The second script, called install.sh, has to be used after the installation
of the first script. Run the following command in the terminal (extracted
directory): sh install.sh
After the installation of these scripts, go to the All Apps, where the Arduino
IDE is installed.
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Almost all operating systems come with a text editor preinstalled (for
example, Windows comes with Notepad, Linux Ubuntu comes with
Gedit, Linux Raspbian comes with Leafpad, etc.). All of these text
editors are perfectly fine for the purpose of the eBook.
Next thing is to check, if your PC can detect an Arduino board. Open freshly
installed Arduino IDE, and go to:
Tools > Board > {your board name here}
{your board name here} should be the Arduino/Genuino Uno, as it can
be seen on the following image:
The port to which the Arduino board is connected has to be selected. Go to:
Tools > Port > {port name goes here}
and when the Arduino board is connected to the USB port, the port name
can be seen in the drop-down menu on the previous image.
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If the Arduino IDE is used on Windows, port names are as follows:
For Linux users, for example port name is /dev/ttyUSBx, where x
represents integer number between 0 and 9.
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How to set-up the Raspberry Pi and Python
For the Raspberry Pi, first the operating system has to be installed, then
everything has to be set-up so that it can be used in the Headless mode.
The Headless mode enables remote connection to the Raspberry Pi,
without the need for a PC screen Monitor, mouse or keyboard. The only
things that are used in this mode are the Raspberry Pi itself, power supply
and internet connection. All of this is explained minutely in the free eBook:
Raspberry Pi Quick Startup Guide
The Raspbian operating system comes with Python preinstalled.
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Connecting the module with Uno
Connect the module with the Uno as shown on the following connection
diagram:
Module pin Uno pin Wire color
VCC 5V Red Wire
GND GND Black Wire
SCL A5 Blue wire
VCC A4 Green wire
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Sketch example
#include <Wire.h>
#include <math.h>
const int MPU = 0x68;
int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;
int AcXcal, AcYcal, AcZcal, GyXcal, GyYcal, GyZcal, tcal;
double t, tx, tf, pitch, roll;
void setup() {
Wire.begin();
Wire.beginTransmission(MPU);
Wire.write(0x6B);
Wire.write(0);
Wire.endTransmission(true);
Serial.begin(9600);
}
void loop() {
Wire.beginTransmission(MPU);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU, 14, true);
AcXcal = -950;
AcYcal = -300;
AcZcal = 0;
tcal = -1600;
GyXcal = 480;
GyYcal = 170;
GyZcal = 210;
AcX = Wire.read() << 8 | Wire.read();
AcY = Wire.read() << 8 | Wire.read();
AcZ = Wire.read() << 8 | Wire.read();
Tmp = Wire.read() << 8 | Wire.read();
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GyX = Wire.read() << 8 | Wire.read();
GyY = Wire.read() << 8 | Wire.read();
GyZ = Wire.read() << 8 | Wire.read();
tx = Tmp + tcal;
t = tx / 340 + 36.53;
tf = (t * 9 / 5) + 32;
getAngle(AcX, AcY, AcZ);
Serial.print("Angle: ");
Serial.print("Pitch = ");
Serial.print(pitch);
Serial.print(" Roll = ");
Serial.println(roll);
Serial.print("Accelerometer: ");
Serial.print("X = ");
Serial.print(AcX + AcXcal);
Serial.print(" Y = ");
Serial.print(AcY + AcYcal);
Serial.print(" Z = ");
Serial.println(AcZ + AcZcal);
Serial.print("Temperature in celsius = ");
Serial.print(t);
Serial.print(" fahrenheit = ");
Serial.println(tf);
Serial.print("Gyroscope: ");
Serial.print("X = ");
Serial.print(GyX + GyXcal);
Serial.print(" Y = ");
Serial.print(GyY + GyYcal);
Serial.print(" Z = ");
Serial.println(GyZ + GyZcal);
delay(1000);
}
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void getAngle(int Ax, int Ay, int Az) {
double x = Ax;
double y = Ay;
double z = Az;
pitch = atan(x / sqrt((y * y) + (z * z)));
roll = atan(y / sqrt((x * x) + (z * z)));
pitch = pitch * (180.0 / 3.14);
roll = roll * (180.0 / 3.14) ;
}
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Upload the sketch to the Uno and run the Serial Monitor (Tools > Serial
Monitor). The result should look like as on the following image:
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Connecting the module with Raspberry Pi
Connect the module with the Raspberry Pi as shown on the following
image:
Module pin Raspberry Pi pin Physical pin Wire color
VCC 3V3 1 Red Wire
SDA GPIO2 3 Green wire
SCL GPIO3 5 Blue wire
GND GND 14 Black wire
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Library and tools for Python
To use the module with the Raspberry Pi, the several libraries have to be
installed. If the libraries are already installed, running the installation
command only updates them to a newer version.
To install the libraries, open the terminal and run the following commands,
one by one:
sudo apt-get update && sudo apt-get upgrade
sudo apt-get install python-smbus python3-smbus python-
dev python3-dev i2c-tools
sudo pip3 install adafruit-circuitpython-mpu6050
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Enabling the I2C interface
In order to use the sensor with Raspberry Pi, the I2C interface on the
Raspberry Pi has to be enabled. To do so, go to:
Application Menu > Preferences > Raspberry Pi Configuration
When a new window opens, find the Interfaces tab. Then enable the I2C
radio button and click OK, like on the following image:
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To detect the I2C address of the module the i2ctools should be installed.
If there is none, following command has to be executed in the terminal
window: sudo apt-get install i2ctools -y
Checking the I2C address is done by executing the following command in
the terminal:
i2cdetect -y 1
The terminal output should look like as on the following image:
The module I2C address is 0x68.
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Python script
import time
import board
import busio
import adafruit_mpu6050
i2c = busio.I2C(board.SCL, board.SDA)
mpu = adafruit_mpu6050.MPU6050(i2c)
print ("GY-521 (MPU-6050) test script")
print ("Press CTRL + C to end the script!\n")
try:
while True:
print("Acceleration: X:%.2f, Y: %.2f, Z: %.2f m/s^2"%
(mpu.acceleration))
print("Gyro X:%.2f, Y: %.2f, Z: %.2f degrees/s"%(mpu.gyro))
print("Temperature: %.2f C"%mpu.temperature)
print("")
time.sleep(1)
except KeyboardInterrupt:
print('\nScript end!')
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Save the script by the name mpu6050.py. To run the script, open the
terminal in the directory where the script is saved and run the following
command:
python3 mpu6050.py
The result should look like as on the following image:
To stop the script press ‘CTRL + C’ on the keyboard.
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Now it is the time to learn and make your own projects. You can do that with
the help of many example scripts and other tutorials, which can be found on
the Internet.
If you are looking for the high quality products for Arduino and
Raspberry Pi, AZ-Delivery Vertriebs GmbH is the right company to get
them from. You will be provided with numerous application examples,
full installation guides, eBooks, libraries and assistance from our
technical experts.
https://az-delivery.de
Have Fun!
Impressum
https://az-delivery.de/pages/about-us
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