ArduinoでGY-521(3軸 加速度・角速度センサ)から加速度と角速度を読み出す仕様を調べました

// MPU-6050 Short Example Sketch

#include<Wire.h>
const int MPU_addr=0x68;  // I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
void setup(){
  Wire.begin();
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x6B);  // PWR_MGMT_1 register
  Wire.write(0);     // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);
  Serial.begin(9600);
}
void loop(){
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr,14,true);  // request a total of 14 registers
  AcX=Wire.read()<<8|Wire.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)    
  AcY=Wire.read()<<8|Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ=Wire.read()<<8|Wire.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp=Wire.read()<<8|Wire.read();  // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
  GyX=Wire.read()<<8|Wire.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY=Wire.read()<<8|Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ=Wire.read()<<8|Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
  Serial.print("AcX = "); Serial.print(AcX);
  Serial.print(" | AcY = "); Serial.print(AcY);
 Serial.print(" | AcZ = "); Serial.print(AcZ);
 Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53);  //equation for temperature in degrees C from datasheet
Serial.print(" | GyX = "); Serial.print(GyX);
  Serial.print(" | GyY = "); Serial.print(GyY);
 Serial.print(" | GyZ = "); Serial.println(GyZ);
  delay(333);
}

  Wire.write(0x6B);  // PWR_MGMT_1 register
  Wire.write(0);     // set to zero (wakes up the MPU-6050)

  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr,14,true);  // request a total of 14 registers
  AcX=Wire.read()<<8|Wire.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)    
  AcY=Wire.read()<<8|Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ=Wire.read()<<8|Wire.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp=Wire.read()<<8|Wire.read();  // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
  GyX=Wire.read()<<8|Wire.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY=Wire.read()<<8|Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ=Wire.read()<<8|Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)

// GY-521/MPU-6050 角速度のみ表示させる

#include<Wire.h>
const int MPU_addr=0x68;  // I2C address of the MPU-6050
int16_t GyX,GyY,GyZ;

void setup(){
  Wire.begin();
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x6B);  // PWR_MGMT_1 register
  Wire.write(0);     // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);
  Serial.begin(9600);
}

void loop(){
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x43);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr,14,true);  // request a total of 14 registers
  GyX=Wire.read()<<8|Wire.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY=Wire.read()<<8|Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ=Wire.read()<<8|Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)

  Serial.print(GyX); Serial.print(","); 
  Serial.print(GyY); Serial.print(","); 
  Serial.println(GyZ);
}

// MPU-6050のDLPFを'6'に設定し角速度の測定値を表示させる

#include<Wire.h>
const int MPU_addr=0x68;  // I2C address of the MPU-6050
const int WR_MGMT_1_addr=0x6B;  // MPU-6050 PWR_MGMT_1 register
int ReadReg=0x1C;   // Register in MPU-6050
uint8_t ReadRegValue;     // Register Value
int16_t GyX,GyY,GyZ;

// Furntion to write a byte to a register
uint8_t MPU6050_WriteRegister_Byte (int MPUAdd, int Reg, uint8_t Value){

  Wire.beginTransmission(MPUAdd);
  Wire.write(Reg);  // Register for writing
  Wire.write(Value);  // Write value     
  Wire.endTransmission(true);
}

// Furntion to read a byte from a register
uint8_t MPU6050_ReadRegister_Byte (int MPUAdd, int Reg){

  uint8_t Value;

  Wire.beginTransmission(MPUAdd);
  Wire.write(Reg);  // starting with register ReadReg
  Wire.endTransmission(true);

  Wire.beginTransmission(MPUAdd);  
  Wire.requestFrom(MPUAdd,1,true);  // request a total of 1 register
  Value=Wire.read();  // Value of ReadReg    
  Wire.endTransmission(true);

  return  Value;
}

void setup(){
  Wire.begin();
  Serial.begin(9600);
  
  //Wakeup MPU-6050  
  Wire.beginTransmission(MPU_addr);
  Wire.write(WR_MGMT_1_addr);  // PWR_MGMT_1 register
  Wire.write(0);     // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);

  //MPU-6050のレジスタ(26)を'6'に設定しDLPFの設定を変更する 
  MPU6050_WriteRegister_Byte (MPU_addr, 26 ,6);

}

void loop(){
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x43);  // starting with register 0x43 (GYRO_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr,14,true);  // request a total of 14 registers
  GyX=Wire.read()<<8|Wire.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY=Wire.read()<<8|Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ=Wire.read()<<8|Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)

  Serial.print(GyX); Serial.print(","); 
  Serial.print(GyY); Serial.print(","); 
  Serial.println(GyZ);
  
}