MPU6050

Contributed by Shriyans.

The InvenSense MPU6050 is a high-performance 6-axis MotionTracking device that combines a 3-axis gyroscope and a 3-axis accelerometer on the same silicon die, communicating over an I2C serial bus.

The driver uses the uorb interface.

Application Programming Interface

#include <nuttx/sensors/mpu6050.h>

The MPU6050 registration function allows the driver to be registered as a uORB lower-half sensor driver. Registering this driver will cause two separate uORB topics to appear under /dev/uorb/:

sensor_accel<n> - Accelerometer topic reporting linear acceleration in m/s² and temperature.
sensor_gyro<n> - Gyroscope topic reporting angular velocity in rad/s and temperature.

Where n is the device number passed during device registration (e.g., 0).

/* Example uORB sensor registration on I2C bus 0 at default address 0x68 */

int err = mpu6050_register(0, i2c_master, MPU6050_ADDR_LOW);
if (err < 0)
  {
    syslog(LOG_ERR, "Failed to register MPU6050: %d\n", err);
  }

Configuration Options

CONFIG_SENSORS_MPU6050 - Enables uORB driver support for the InvenSense MPU6050 6-axis MotionTracker over I2C.

Supported Operations

The MPU6050 uORB driver supports standard sensor operations (activate, fetch, set_interval, batch, and control). It acquires simultaneous 3-axis accelerometer and 3-axis gyroscope samples, applies appropriate scale conversions, and publishes them to their respective uORB topics.

Example Usage (uorb_listener)

Once registered on target hardware, the MPU6050 topics can be verified directly from the NuttX shell (NSH) using the uorb_listener utility:

nsh> uorb_listener sensor_accel0 5
TOPIC: sensor_accel0 #0
timestamp: 12345678
x: 0.0210
y: 0.0035
z: 9.8066
temperature: 25.4000

nsh> uorb_listener sensor_gyro0 5
TOPIC: sensor_gyro0 #0
timestamp: 12345680
x: 0.0012
y: -0.0004
z: 0.0001
temperature: 25.4000