Note
Hello, welcome to the SunFounder Raspberry Pi & Arduino & ESP32 Enthusiasts Community on Facebook! Dive deeper into Raspberry Pi, Arduino, and ESP32 with fellow enthusiasts.
Why Join?
Expert Support: Solve post-sale issues and technical challenges with help from our community and team.
Learn & Share: Exchange tips and tutorials to enhance your skills.
Exclusive Previews: Get early access to new product announcements and sneak peeks.
Special Discounts: Enjoy exclusive discounts on our newest products.
Festive Promotions and Giveaways: Take part in giveaways and holiday promotions.
👉 Ready to explore and create with us? Click [here] and join today!
IMU Module
The GY-87 module is equipped with three sensor chips: MPU6050, QMC5883L, and BMP180, each offering unique capabilities. The MPU6050 combines a gyroscope and an accelerometer for motion tracking, the QMC5883L serves as a magnetometer for directional sensing, and the BMP180 is used for measuring barometric pressure and temperature. These can be interfaced using the I2C protocol for effective communication with an Arduino.
These sensors are designed for seamless integration via the I2C protocol, ensuring efficient communication with platforms like Arduino. Each sensor in the GY-87 module is accessible through unique I2C addresses: MPU6050 is accessed at 0x68, QMC5883L at 0x0D, and BMP180 at 0x77.
Individual tutorials for each sensor chip:
If you want to use these three chips simultaneously, here is a simple example:
Note
You can open the file
09-gy87.inounder the path ofelite-explorer-kit-main\basic_project\09-gy87directly.Or copy this code into Arduino IDE.
Note
To install the library, use the Arduino Library Manager.
Search for “Adafruit MPU6050” and install
When installing each library, please make sure to select the installation of all dependencies.
Search for “Adafruit Unified Sensor” and install
Search for “QMC5883LCompass” and install
Search for “Adafruit BMP085 Library” and install
1/*
2 This Arduino code is designed to work with the GY-87 IMU (Inertial Measurement Unit) module,
3 which is a multi-sensor module containing three individual sensors: MPU6050 (Accelerometer and Gyroscope),
4 QMC5883L Magnetometer, and BMP180 (Barometric Pressure and Temperature). The code initializes these
5 sensors and continuously prints their readings to the Serial Monitor.
6
7 Board: Arduino Uno R4
8 Component: GY-87 IMU Module
9 Library: https://github.com/adafruit/Adafruit_MPU6050 (Adafruit MPU6050 by Adafruit)
10 https://github.com/mprograms/QMC5883LCompass (QMC5883LCompass by MPrograms)
11 https://github.com/adafruit/Adafruit-BMP085-Library (Adafruit BMP085 Library by Adafruit)
12*/
13
14// Include required libraries
15#include <Adafruit_MPU6050.h>
16#include <Adafruit_Sensor.h>
17#include <Wire.h>
18#include <Adafruit_BMP085.h>
19#include <QMC5883LCompass.h>
20
21// Initialize sensor objects
22Adafruit_MPU6050 mpu;
23Adafruit_BMP085 bmp;
24QMC5883LCompass compass;
25
26void setup() {
27 // Initialize the serial communication with a baud rate of 9600
28 Serial.begin(9600);
29
30 // Initialize the MPU6050 sensor (accelerometer and gyroscope)
31 initializeMPU6050();
32
33 // Enable I2C bypass on MPU6050 to directly access the QMC5883L magnetometer
34 mpu.setI2CBypass(true);
35
36 // Initialize the QMC5883L magnetometer sensor
37 initializeQMC5883L();
38
39 // Initialize BMP180 barometric sensor
40 initializeBMP180();
41}
42
43
44void loop() {
45 // Print MPU6050 data
46 printMPU6050();
47
48 // Print QMC5883L data
49 printQMC5883L();
50
51 // Print BMP180 data
52 printBMP180();
53
54 delay(500);
55}
56
57void initializeQMC5883L() {
58
59 compass.init();
60
61 // You should replace the code below according to your calibration results
62 compass.setCalibrationOffsets(-458.00, -310.00, -362.00);
63 compass.setCalibrationScales(0.79, 0.79, 2.19);
64
65}
66
67void printQMC5883L() {
68
69 Serial.println();
70 Serial.println("QMC5883L ------------");
71
72 int x, y, z, a;
73 char myArray[3];
74
75 compass.read();
76
77 x = compass.getX();
78 y = compass.getY();
79 z = compass.getZ();
80
81 a = compass.getAzimuth();
82
83 compass.getDirection(myArray, a);
84
85 Serial.print("X: ");
86 Serial.print(x);
87
88 Serial.print(" Y: ");
89 Serial.print(y);
90
91 Serial.print(" Z: ");
92 Serial.print(z);
93
94 Serial.print(" Azimuth: ");
95 Serial.print(a);
96
97 Serial.print(" Direction: ");
98 Serial.print(myArray[0]);
99 Serial.print(myArray[1]);
100 Serial.println(myArray[2]);
101
102 Serial.println("QMC5883L ------------");
103 Serial.println();
104}
105
106
107void initializeMPU6050() {
108 // Check if the MPU6050 sensor is detected
109 if (!mpu.begin()) {
110 Serial.println("Failed to find MPU6050 chip");
111 while (1)
112 ; // Halt if sensor not found
113 }
114 Serial.println("MPU6050 Found!");
115
116 // set accelerometer range to +-8G
117 mpu.setAccelerometerRange(MPU6050_RANGE_8_G);
118
119 // set gyro range to +- 500 deg/s
120 mpu.setGyroRange(MPU6050_RANGE_500_DEG);
121
122 // set filter bandwidth to 21 Hz
123 mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
124
125 Serial.println("");
126 delay(100);
127}
128
129void printMPU6050() {
130
131 Serial.println();
132 Serial.println("MPU6050 ------------");
133
134 /* Get new sensor events with the readings */
135 sensors_event_t a, g, temp;
136 mpu.getEvent(&a, &g, &temp);
137
138 /* Print out the values */
139 Serial.print("Acceleration X: ");
140 Serial.print(a.acceleration.x);
141 Serial.print(", Y: ");
142 Serial.print(a.acceleration.y);
143 Serial.print(", Z: ");
144 Serial.print(a.acceleration.z);
145 Serial.println(" m/s^2");
146
147 Serial.print("Rotation X: ");
148 Serial.print(g.gyro.x);
149 Serial.print(", Y: ");
150 Serial.print(g.gyro.y);
151 Serial.print(", Z: ");
152 Serial.print(g.gyro.z);
153 Serial.println(" rad/s");
154
155 Serial.print("Temperature: ");
156 Serial.print(temp.temperature);
157 Serial.println(" degC");
158
159 Serial.println("MPU6050 ------------");
160 Serial.println();
161}
162
163void initializeBMP180() {
164 // Start BMP180 initialization
165 if (!bmp.begin()) {
166 Serial.println("Could not find a valid BMP180 sensor, check wiring!");
167 while (1)
168 ; // Halt if sensor not found
169 }
170 Serial.println("BMP180 Found!");
171}
172
173void printBMP180() {
174 Serial.println();
175 Serial.println("BMP180 ------------");
176 Serial.print("Temperature = ");
177 Serial.print(bmp.readTemperature());
178 Serial.println(" *C");
179
180 Serial.print("Pressure = ");
181 Serial.print(bmp.readPressure());
182 Serial.println(" Pa");
183
184 // Calculate altitude assuming 'standard' barometric
185 // pressure of 1013.25 millibar = 101325 Pascal
186 Serial.print("Altitude = ");
187 Serial.print(bmp.readAltitude());
188 Serial.println(" meters");
189
190 Serial.print("Pressure at sealevel (calculated) = ");
191 Serial.print(bmp.readSealevelPressure());
192 Serial.println(" Pa");
193 Serial.println("BMP180 ------------");
194 Serial.println();
195}
Note
Magnetometers must be calibrated(Calibrate QMC5883L) before they can be used as compasses, and must held level in use and kept away from iron objects, magnetized materials and current carrying wires.
After the code is successfully uploaded to your Arduino Uno R4, the Serial Monitor will come to life, continuously printing out sensor data from the GY-87 IMU module. This module incorporates three individual sensors: the MPU6050 for accelerometer and gyroscope readings, the QMC5883L for magnetometer readings, and the BMP180 for barometric pressure and temperature readings.