View source for Accelerometer Gyroscope MPU6000/MPU6050/GY-521 (I2C)

[[Image:TArduinoMPU6050.png]]

== Summary ==
The Accelerometer Gyroscope MPU6000/MPU6050 component provides 6-axis motion tracking with accelerometer and gyroscope capabilities. It communicates using the I2C interface and outputs motion data from both sensing elements plus temperature.

== Description ==
The MPU6000/MPU6050 is a 6-axis MotionTracking device that combines a 3-axis accelerometer and 3-axis gyroscope in a single package. It features programmable digital filters, configurable full-scale ranges, and interrupt generation capabilities. The sensor provides high-fidelity motion data with integrated temperature sensing, making it suitable for applications such as motion control, gesture recognition, pedometry, and inertial measurement systems.

<b>Diagram:</b>

[[Image:TArduinoMPU6050.Preview.png]]

== Properties ==
*'''Accelerometer''' – Accelerometer configuration.
**'''Full Scale Range''' – Acceleration measurement range (Default: aF2g).
**'''X''' – X-axis settings.
***'''Enabled''' – Enables X-axis (Default: True).
***'''Self Test''' – Self-test functionality (Default: False).
**'''Y''' – Y-axis settings.
***'''Enabled''' – Enables Y-axis (Default: True).
***'''Self Test''' – Self-test functionality (Default: False).
**'''Z''' – Z-axis settings.
***'''Enabled''' – Enables Z-axis (Default: True).
***'''Self Test''' – Self-test functionality (Default: False).
*'''Address''' – I2C device address (Default: 0x68).
*'''Clock Source''' – Clock source configuration (Default: mcsAutoSelect).
*'''Enabled''' – Enables component functionality (Default: True).
*'''Filter''' – Filter settings (Default: A8_260Hz_G8_256Hz_F_8KHz).
*'''Frame Synchronization''' – Frame sync settings.
**'''Enable Interrupt''' – Enables frame sync interrupt (Default: False).
**'''Interrupt On Low Level''' – Low-level interrupt triggering (Default: False).
**'''Location''' – Interrupt location setting (Default: fsIDisabled).
*'''Gyroscope''' – Gyroscope configuration.
**'''Full Scale Range''' – Angular rate measurement range (Default: gr250dps).
**'''Units''' – Measurement units (Default: aulDegree).
**'''X''' – X-axis settings.
***'''Enabled''' – Enables X-axis (Default: True).
***'''Self Test''' – Self-test functionality (Default: False).
**'''Y''' – Y-axis settings.
***'''Enabled''' – Enables Y-axis (Default: True).
***'''Self Test''' – Self-test functionality (Default: False).
**'''Z''' – Z-axis settings.
***'''Enabled''' – Enables Z-axis (Default: True).
***'''Self Test''' – Self-test functionality (Default: False).
*'''Interrupt''' – Interrupt configuration.
**'''Inverted''' – Interrupt polarity (Default: False).
**'''Latch''' – Latching mode (Default: True).
**'''On Frame Sync''' – Frame sync interrupt (Default: False).
**'''On Raw Ready''' – Data ready interrupt (Default: False).
**'''Open Drain''' – Open-drain output mode (Default: False).
*'''Low Power Mode''' – Power management.
**'''Enabled''' – Enables low power mode (Default: False).
**'''Sample Frequency''' – Sampling frequency in low power mode (Default: 1.25).
*'''Name''' – Component name (Default: AccelerometerGyroscope4).
*'''Sample Rate Divider''' – Sample rate divider value (Default: 1).
*'''Thermometer''' – Temperature sensor configuration.
**'''Enabled''' – Enables temperature sensor (Default: True).
**'''In Fahrenheit''' – Fahrenheit output (Default: False).

== Pins ==
=== Input Pins ===
*'''Clock''' (digital) – Clock signal input.
*'''Reset''' (digital) – Reset input signal.

=== Output Pins ===
*'''Accelerometer''' – Accelerometer data outputs.
**'''Out:'''
**'''X(G)''' (analog) – X-axis acceleration in g-forces.
**'''Y(G)''' (analog) – Y-axis acceleration in g-forces.
**'''Z(G)''' (analog) – Z-axis acceleration in g-forces.
*'''Gyroscope''' – Gyroscope data outputs.
**'''Out:'''
**'''X''' (analog) – X-axis angular rate.
**'''Y''' (analog) – Y-axis angular rate.
**'''Z''' (analog) – Z-axis angular rate.
*'''Thermometer''' – Temperature sensor outputs.
**'''Out''' (analog) – Temperature measurement output.
*'''Frame Synchronization''' (digital) – Frame sync output signal.
*'''Out''' (I2C)  – I2C data line communication.

== Categories ==
*[[Image:I2C.png]] [[Category:I2C]] – Components that use I2C communication protocol.
*[[Image:Sensors.png]] [[Category:Sensors]] – Motion sensing components.
*[[Image:Accelerometer.png]] [[Category:Accelerometer]] – Acceleration measurement components.
*[[Image:Gyroscope.png]] [[Category:Gyroscope]] – Angular rate measurement components.
*[[Image:IMU.png]] [[Category:IMU]] – Inertial Measurement Units.

[[Category:Components]]