Accelerometer/Gyroscope-MPU6050 Module Details

The Three Axis Acceleration + Gyro Breakout (MPU-6050) is a great motion processing module. By combining a MEMS 3-axis gyroscope and a 3-axis accelerometer on the same silicon die together with an onboard Digital Motion Processor™ (DMP™) capable of processing complex 9-axis Motion Fusion algorithms, the MPU-6050 does away with the cross-axis alignment problems that can creep up on discrete parts.
It is very accurate, as it contains 16-bits analog to digital conversion hardware for each channel. There for it captures the x, y, and z channel at the same time. The sensor uses the I2C-bus to interface with the Arduino.
The breakout board for the MPU-6050 makes this tiny QFN package easy to work into your project. Every pin you need to get up and running is brought out, including the auxiliary master I2C bus which allows the MPU-6050 to access external magnetometers and other sensors. The onboard LDO chip enable you to interface the board with 5V & 3V3 MCUs without the need of level shifters.
Where to Use MPU6050
The module also have two auxiliary pins which can be used to interface external IIC modules like an magnetometer, however it is optional. Since the IIC address of the module is configurable more than one MPU6050 sensor can be interfaced to a Microcontroller using the AD0 pin. This module also has well documented and revised libraries available hence it’s very easy to use with famous platforms like Arduino. So if you are looking for a sensor to control motion for your RC Car, Drone, Self balancing Robot, Humanoid, Biped or something like.
MPU6050 Pin Configuration

PIN NUMBER PIN NAME DESCRIPTION
1. VCC +3V to +5V.
2. GND Ground is connected to Arduino
3. SCL Serial Clock
4. SDA Serial Data
5. XDA Auxiliary Serial Data
6. XCL Auxiliary Serial Clock
AD0 AD0 If more than one MPU6050
8. INT Interrupt

Calculations
Note that gyroscope and accelerometer sensor data of MPU6050 module consists of 16-bit raw data in 2’s complement form. Temperature sensor data of MPU6050 module consists of 16-bit data (not in 2’s complement form).
-Accelerometer full scale range of +/- 2g with Sensitivity Scale Factor of 16,384 LSB(Count)/g.
-Gyroscope full scale range of +/- 250 °/s with Sensitivity Scale Factor of 131 LSB (Count)/°/s.
then,
To get sensor raw data, we need to first perform 2’s complement on sensor data of Accelerometer and gyroscope.
After getting sensor raw data we can calculate acceleration and angular velocity by dividing sensor raw data with their sensitivity scale factor as follows, Accelerometer values in g (g force).
Acceleration along the X axis = (Accelerometer X axis raw data/16384)g.
Acceleration along the Y axis = (Accelerometer Y axis raw data/16384)g.
Acceleration along the Z axis = (Accelerometer Z axis raw data/16384)g.
Gyroscope values in °/s (degree per second)
Angular velocity along the X axis = (Gyroscope X axis raw data/131)°/s.
Angular velocity along the Y axis = (Gyroscope Y axis raw data/131)°/s.
Angular velocity along the Z axis = (Gyroscope Z axis raw data/131)°/s.
Temperature value in °/c (degree per Celsius)
Temperature in degrees C = ((temperature sensor data)/340 + 36.53)°/c.
For example,
Suppose, after 2’ complement we get accelerometer X axes raw value = +15454
Then Ax = +15454/16384 = 0.94 g.
Digital-Output Temperature Sensor:
An on-chip temperature sensor and ADC are used to measure the MPU-60X0 die temperature. The readings from the ADC can be read from the FIFO or the Sensor Data registers.
Gyroscope Features:
1. 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.
2. External sync signal connected to the FSYNC pin supports image, video and GPS synchronization.
3. Integrated 16-bit ADCs enable simultaneous sampling of gyros.
4. Enhanced bias and sensitivity temperature stability reduces the need for user calibration.
5. Improved low-frequency noise performance.
6. Digitally-programmable low-pass filter.
7. Gyroscope operating current: 3.6mA.
8. Standby current: 5µA.
9. Factory calibrated sensitivity scale factor.
10. User self-test.
Accelerometer Features:
1. The triple-axis MEMS accelerometer in MPU-60X0 includes a wide range of features.
2. Digital-output triple-axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g and ±16g.
3. Integrated 16-bit ADCs enable simultaneous sampling of accelerometers while requiring no external multiplexer.
4. Accelerometer normal operating current: 500µA.
5. Low power accelerometer mode current: 10µA at 1.25Hz, 20µA at 5Hz, 60µA at 20Hz, 110µA at 40Hz.
6. Orientation detection and signaling.
7. Tap detection.
8. User-programmable interrupts.
9. High-G interrupt.
10. User self-test.
Features:
1. On-board MPU – 6050 integrated 6 axis motion processing chip
2. On-board LDO chip, support 5 V / 3.3 V voltage input
3. Commonly used pin have been bropught out with a standard 2.54mm spacing
4. Module support IIC standard communication protocol
5. Users can control program of the accelerator full grid sensor in the range of ±2g, ±4g, ±8g and ±16g
6. Angular velocity full case sensing range for ±250, ±500, ±1000, and ±2000dps
7. Digital Motion Processing™ (DMP™) engine offloads complex MotionFusion, sensor timing synchronization and gesture detection
8. Embedded algorithms for run-time bias and compass calibration. No user intervention required
9. On-chip ADC & temperature sensor to measure the MPU-60X0 die temperature
Applications:
1. For Video/Still Image Stabilization.
2. Security/Authentication.
3. Touch Anywhere™ technology (for “no touch” UI Application Control/Navigation)
4. Motion Command™ technology (for Gesture Short-cuts)
5. Motion-enabled game and application framework.
6. Gesture recognition.
7. Location based services, points of interest, and dead reckoning.
8. Handset and portable gaming.
9. Motion-based game controllers.
10. 3D remote controls for Internet connected DTVs and set top boxes, 3D mice.
11. Wearable sensors for health, fitness and sports.
12. Toys.

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