How to Use MPU6050: Examples, Pinouts, and Specs

The MPU6050 is a 6-axis motion tracking device manufactured by InvenSense. It integrates a 3-axis gyroscope and a 3-axis accelerometer on a single chip, enabling precise measurement of angular velocity and acceleration in three-dimensional space. This compact and versatile sensor is widely used in applications requiring motion tracking, orientation detection, and stabilization.

• Robotics: Motion tracking and stabilization
• Drones: Flight control and orientation sensing
• Wearable devices: Step counting and activity monitoring
• Gaming: Gesture recognition and motion control
• Industrial equipment: Vibration analysis and monitoring

The following table outlines the key technical details of the MPU6050:

The MPU6050 has 24 pins, but the most commonly used pins for basic operation are listed below:

For a complete pinout, refer to the official datasheet.

1. Power Supply: Connect the VDD pin to a 3.3V power source and the GND pin to ground. If your microcontroller operates at 5V logic, use a level shifter for the I2C lines.
2. I2C Communication: Connect the SCL and SDA pins to the corresponding I2C pins on your microcontroller. Use pull-up resistors (typically 4.7kΩ) on both lines.
3. Address Selection: Set the AD0 pin to GND for the default I2C address (0x68) or to VDD for an alternate address (0x69).
4. Interrupts (Optional): Connect the INT pin to a digital input pin on your microcontroller if you want to use the interrupt feature.

• Bypass Capacitor: Place a 0.1µF ceramic capacitor close to the VDD pin for power supply decoupling.
• Mounting Orientation: Ensure the sensor is mounted securely and aligned with the desired axes of measurement.
• Calibration: Perform gyroscope and accelerometer calibration to improve accuracy.
• Temperature Effects: Be aware that temperature changes can affect sensor readings. Use the built-in temperature sensor for compensation if needed.

Below is an example of how to interface the MPU6050 with an Arduino UNO using the I2C protocol:

#include <Wire.h>

// MPU6050 I2C address (default is 0x68 when AD0 is LOW)
const int MPU6050_ADDR = 0x68;

// MPU6050 register addresses
const int PWR_MGMT_1 = 0x6B; // Power management register
const int ACCEL_XOUT_H = 0x3B; // Accelerometer X-axis high byte

void setup() {
  Wire.begin(); // Initialize I2C communication
  Serial.begin(9600); // Initialize serial communication for debugging

  // Wake up the MPU6050 (clear sleep mode bit)
  Wire.beginTransmission(MPU6050_ADDR);
  Wire.write(PWR_MGMT_1); // Access power management register
  Wire.write(0); // Set to 0 to wake up the sensor
  Wire.endTransmission();
}

void loop() {
  // Request accelerometer data
  Wire.beginTransmission(MPU6050_ADDR);
  Wire.write(ACCEL_XOUT_H); // Start reading at ACCEL_XOUT_H
  Wire.endTransmission(false); // Restart I2C communication
  Wire.requestFrom(MPU6050_ADDR, 6); // Request 6 bytes (X, Y, Z high and low)

  if (Wire.available() == 6) {
    int16_t accelX = (Wire.read() << 8) | Wire.read(); // Combine high and low bytes
    int16_t accelY = (Wire.read() << 8) | Wire.read();
    int16_t accelZ = (Wire.read() << 8) | Wire.read();

    // Print accelerometer values
    Serial.print("Accel X: "); Serial.print(accelX);
    Serial.print(" | Accel Y: "); Serial.print(accelY);
    Serial.print(" | Accel Z: "); Serial.println(accelZ);
  }

  delay(500); // Wait 500ms before the next reading
}

1. No I2C Communication:

   • Ensure the pull-up resistors (4.7kΩ) are connected to the SDA and SCL lines.
   • Verify the I2C address (0x68 or 0x69) matches the AD0 pin configuration.
   • Check for proper wiring and secure connections.

2. Incorrect or Unstable Readings:

   • Perform sensor calibration to account for offsets and biases.
   • Minimize vibrations and external noise during operation.
   • Ensure the power supply is stable and within the specified range.

3. Sensor Not Responding:

   • Confirm the MPU6050 is powered correctly (check VDD and GND connections).
   • Verify that the microcontroller's I2C pins are configured correctly.

Q: Can the MPU6050 be used with a 5V microcontroller?
A: Yes, but you must use a logic level shifter for the I2C lines, as the MPU6050 operates at 3.3V logic.

Q: How do I calibrate the MPU6050?
A: Calibration involves reading raw sensor data, calculating offsets, and subtracting these offsets from subsequent readings. Libraries like MPU6050 or MPU6050_DMP for Arduino often include calibration functions.

Q: What is the maximum sampling rate of the MPU6050?
A: The MPU6050 supports a maximum sampling rate of 1kHz for both the gyroscope and accelerometer.

For further details, refer to the official datasheet and application notes provided by InvenSense.