VCC (the GY-521 board has a onboard voltage regulator therefore either 5v or 3.3v can be connected.).GY-521 breakout board Pinout GY-521 pinout Most breakout boards either have a pull down or pull up resistor to keep default at high or low. The AD0 selects between I2C addresses 0ењ†8 and 0ењ†9 enabling 2 of these sensors to be connected in the same project. The on-board DMP can be programmed with firmware to do complex calculations with the sensor values. But it also has its own auxiliary I2C controller which enables it to act as master to another device like a magnetometer. The MPU-6050 always acts as a slave when connected to the Arduino with SDA and SCL pins connected to the I2C bus. The MPU-6050 chip also includes a 1024 byte FIFO buffer where data can be placed and read off. The raw values can be directly read of the accelerometer and gyroscope registers by the arduino. The values can be read off the dmp registers. The embedded digital motion processor is used to do computations on the sensor data. The output from the temperature sensor is digitized by ADC and can be read off the sensor data register. In normal position that is when the device is placed on a flat surface the values are 0g on x axis, 0g on y axis and +1 on z axis.16-bit ADC is used to digitize the values.

Output amplitude is proportional to acceleration. Acceleration along the axes deflects the moving mass which in turn unbalances the differential capacitor which is detected with electro mechanical system technology (MEMS).The MPU-6050 consist of a 3 axis accelerometer which can detect angle of tilt or inclination along the x,y,z axis with micro electro mechanical system technology (MEMS). Angular velocity is measured along each axis in degree per second unit.16-bit ADC is used to digitize voltage to sample each axis.When the sensor is rotated along any axis a vibration is produced due to Coriolis effect which is detected by the MEMS.The MPU-6050 consist of a 3 axis gyroscope which can detect rotational velocity along the x,y,z axis with micro electro mechanical system technology (MEMS). The arduino can be interfaced with I2C bus. It is very accurate and consist of analogue to digital conversion hardware for each channel thereby capturing x,y,z channels at the same time.

It also includes a embedded temperature sensor and an on chip oscillator. MPU-6050 is a chip manufactured by Invensense which combines 3 axis accelerometer and 3 axis gyroscope with an on-board digital motion processor.

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