Published August 28, 2019

How to Interface Gyro Sensor with Odinub Board

We will interface the MPU-6050 module with Odinub to read gyroscope and accelerometer value and print them.

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How to Interface Gyro Sensor with Odinub Board

Things used in this project

Hardware components

Odinub

DFRobot 6 DOF Sensor - MPU6050

Jumper wires (generic)

Story

Hello, I am so excited to tell you guys this my first project on Odinub using I2C protocol. I will show you how gyroscope and accelerometer work on Odinub. For that I am using MPU-6050. We will try to communicate with a device using i2c protocol. This device, the MPU-6050, is a gyroscope + accelerometer integrated circuit that is very popular among makers and enthusiasts.

Hardware Required:

Odinub
Odinub converter
MPU-6050
Breadboard
Jumper wires
Power supply

Description:

In this article, Here, we will interface the MPU-6050 module with Odinub to read gyroscope and accelerometer value and print them.If you are new to Odinub then go through our getting started with Odinub.

We can interface the MPU-6050 module with Odinub using python. we will display the value of gyroscope and accelerometer on the terminal which we are read from the MPU-6050 module.

Circuit Diagram:

Let's connect the MPU-6050 to the Odinub. we will be using I2C bus of the Odinub so for that:

1. Connect SDA pin will be I2C1_SDA (10)

2. Connect SCL pin will beI2C1_SCL(12)

3. Connect MPU-6050 VCC pin to be 5v(2/4)

4. Connect MPU-6050 GND pin to be GND(6/8).

MPU-6050 GYRO sensor: The MPU-6050 sensor module is an integrated 6- axis motion tracking device. It has a 3-axis gyroscope, 3-axis accelerometer digital motion processor and a temperature sensor all in a single IC.

Gyroscope and accelerometer reading along X, Y and Z axes are available in 2’s complement form.

Gyroscope readings are in degrees per second (dps) unit;Accelerometer readings are in g unit.

Pin Configuration:

Vcc:- this pin is used for powering the MPU-6050 module with respect to ground

GND:- this is a ground pin

SDA:-SDA pin is used for data between controller and MPU-6050 module

SCL:- SCL pin is used for clock input

XDA:- This is sensor I2C SDA Data line for configuring and reading from external sensors ((optional) not used in our case)

XCL:- This is sensor I2C SCL clock line for configuring and reading from external sensors ((optional) not used in our case)

ADO:- I2C Slave Address LSB (not applicable in our case)

INT:- Interrupt pin for indication of data ready.

Step1: First of We need to check some i2c configuration on Odinub.For that fire the below command in the terminal.

i2cdetect -r 1

If the gyroscope is properly connected, you will see this. You will see that address 68 is filled out. That is the MPU6050.if you have any problem in this go to the blog you can find your solution here.

Step 2: It’s an optional step if in your Odinub board smbus is not installed then fire the below command.

sudo apt-get install python-smbus

MPU6050 Output:

Output window will show all values mentioned below:

Gx = Gyro X-axis data in degree/seconds

Gy = Gyro Y-axis data in degree/seconds

Gz = Gyro Z-axis data in degree/seconds

Ax = Accelerometer X-axis data in g

Ay = Accelerometer Y-axis data in g

Az = Accelerometer Z-axis data in g

I hope this project help to make such an innovative project!

Untitled file

import smbus			
from time import sleep          

#some MPU6050 Registers and their Address
PWR_MGMT_1   = 0x6B
SMPLRT_DIV   = 0x19
CONFIG       = 0x1A
GYRO_CONFIG  = 0x1B
INT_ENABLE   = 0x38
ACCEL_XOUT_H = 0x3B
ACCEL_YOUT_H = 0x3D
ACCEL_ZOUT_H = 0x3F
GYRO_XOUT_H  = 0x43
GYRO_YOUT_H  = 0x45
GYRO_ZOUT_H  = 0x47


def MPU_Init():
	#write to sample rate register
	bus.write_byte_data(Device_Address, SMPLRT_DIV, 7)
	
	#Write to power management register
	bus.write_byte_data(Device_Address, PWR_MGMT_1, 1)
	
	#Write to Configuration register
	bus.write_byte_data(Device_Address, CONFIG, 0)
	
	#Write to Gyro configuration register
	bus.write_byte_data(Device_Address, GYRO_CONFIG, 24)
	
	#Write to interrupt enable register
	bus.write_byte_data(Device_Address, INT_ENABLE, 1)

def read_raw_data(addr):
	#Accelero and Gyro value are 16-bit
        high = bus.read_byte_data(Device_Address, addr)
        low = bus.read_byte_data(Device_Address, addr+1)
    
        #concatenate higher and lower value
        value = ((high << 8) | low)
        
        #to get signed value from mpu6050
        if(value > 32768):
                value = value - 65536
        return value


bus = smbus.SMBus(1) 	# or bus = smbus.SMBus(0) for older version boards
Device_Address = 0x68   # MPU6050 device address

MPU_Init()

print (" Reading Data of Gyroscope and Accelerometer")

while True:
	
	#Read Accelerometer raw value
	acc_x = read_raw_data(ACCEL_XOUT_H)
	acc_y = read_raw_data(ACCEL_YOUT_H)
	acc_z = read_raw_data(ACCEL_ZOUT_H)
	
	#Read Gyroscope raw value
	gyro_x = read_raw_data(GYRO_XOUT_H)
	gyro_y = read_raw_data(GYRO_YOUT_H)
	gyro_z = read_raw_data(GYRO_ZOUT_H)
	
	#Full scale range +/- 250 degree/C as per sensitivity scale factor
	Ax = acc_x/16384.0
	Ay = acc_y/16384.0
	Az = acc_z/16384.0
	
	Gx = gyro_x/131.0
	Gy = gyro_y/131.0
	Gz = gyro_z/131.0
	

	print ("Gx=%.2f" %Gx, u'\u00b0'+ "/s", "\tGy=%.2f" %Gy, u'\u00b0'+ "/s", "\tGz=%.2f" %Gz, u'\u00b0'+ "/s", "\tAx=%.2f g" %Ax, "\tAy=%.2f g" %Ay, "\tAz=%.2f g" %Az) 	
	sleep(1)