MPU6050 Interfacing with Raspberry Pi using ‘C’


  • MPU6050 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.
  • It can accept inputs from other sensors like 3-axis magnetometer or pressure sensor using its Auxiliary I2C bus.
  • If external 3-axis magnetometer is connected, it can provide complete 9-axis Motion Fusion output.
  • A microcontroller can communicate with this module using I2C communication protocol. Various parameters can be found by reading values from addresses of certain registers using I2C communication.
  • 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.

For more information about MPU6050 Sensor Module and how to use it, refer the topic MPU6050 Sensor Module in the sensors and modules section.

To interface MPU6050 using Raspberry Pi, we should ensure that I2C protocol on Raspberry Pi is turned on. So before going for interfacing MPU6050 with raspberry Pi, we need to make some I2C configurations on Raspberry Pi which you can refer Raspberry Pi I2C.

After configuring I2C on Raspberry Pi, let’s interface Raspberry Pi with MPU6050.

Interfacing Diagram:

MPU6050 interfacing with Raspberry Pi

MPU6050 Interfacing with Raspberry Pi Example:

Here, we will interface MPU6050 module with Raspberry Pi to read Gyroscope and Accelerometer value and print them.

We can interface MPU6050 module with Raspberry Pi using Python and C language. We will display the value of Accelerometer and Gyroscope on terminal which are read from MPU6050 module.

C Program:

Here, we are using WiringPi C library to read data from MPU6050 module.

	MPU6050 Interfacing with Raspberry Pi


#define Device_Address 0x68	/*Device Address/Identifier for MPU6050*/

#define PWR_MGMT_1   0x6B
#define SMPLRT_DIV   0x19
#define CONFIG       0x1A
#define GYRO_CONFIG  0x1B
#define INT_ENABLE   0x38
#define ACCEL_XOUT_H 0x3B
#define ACCEL_YOUT_H 0x3D
#define ACCEL_ZOUT_H 0x3F
#define GYRO_XOUT_H  0x43
#define GYRO_YOUT_H  0x45
#define GYRO_ZOUT_H  0x47

int fd;

void MPU6050_Init(){
	wiringPiI2CWriteReg8 (fd, SMPLRT_DIV, 0x07);	/* Write to sample rate register */
	wiringPiI2CWriteReg8 (fd, PWR_MGMT_1, 0x01);	/* Write to power management register */
	wiringPiI2CWriteReg8 (fd, CONFIG, 0);		/* Write to Configuration register */
	wiringPiI2CWriteReg8 (fd, GYRO_CONFIG, 24);	/* Write to Gyro Configuration register */
	wiringPiI2CWriteReg8 (fd, INT_ENABLE, 0x01);	/*Write to interrupt enable register */

short read_raw_data(int addr){
	short high_byte,low_byte,value;
	high_byte = wiringPiI2CReadReg8(fd, addr);
	low_byte = wiringPiI2CReadReg8(fd, addr+1);
	value = (high_byte << 8) | low_byte;
	return value;

void ms_delay(int val){
	int i,j;

int main(){
	float Acc_x,Acc_y,Acc_z;
	float Gyro_x,Gyro_y,Gyro_z;
	float Ax=0, Ay=0, Az=0;
	float Gx=0, Gy=0, Gz=0;
	fd = wiringPiI2CSetup(Device_Address);   /*Initializes I2C with device Address*/
	MPU6050_Init();		                 /* Initializes MPU6050 */
		/*Read raw value of Accelerometer and gyroscope from MPU6050*/
		Acc_x = read_raw_data(ACCEL_XOUT_H);
		Acc_y = read_raw_data(ACCEL_YOUT_H);
		Acc_z = read_raw_data(ACCEL_ZOUT_H);
		Gyro_x = read_raw_data(GYRO_XOUT_H);
		Gyro_y = read_raw_data(GYRO_YOUT_H);
		Gyro_z = read_raw_data(GYRO_ZOUT_H);
		/* Divide raw value by sensitivity scale factor */
		Ax = Acc_x/16384.0;
		Ay = Acc_y/16384.0;
		Az = Acc_z/16384.0;
		Gx = Gyro_x/131;
		Gy = Gyro_y/131;
		Gz = Gyro_z/131;
		printf("\n Gx=%.3f °/s\tGy=%.3f °/s\tGz=%.3f °/s\tAx=%.3f g\tAy=%.3f g\tAz=%.3f g\n",Gx,Gy,Gz,Ax,Ay,Az);
	return 0;

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

Output Window for MPU6050 data

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