Published October 31, 2019 © GPL3+

Sensitive MPU6050 Seismometer with Data Logger

The most sensitive seismometer can be made with an electronic sensor, in this case MPU6050 module.

IntermediateFull instructions provided16,051

Sensitive MPU6050 Seismometer with Data Logger

Things used in this project

Hardware components

Arduino Nano R3

DFRobot 6 DOF Sensor - MPU6050

5 mm LED: Yellow

Resistor 100 ohm

Single Turn Potentiometer- 100k ohms

Software apps and online services

Arduino IDE

Hand tools and fabrication machines

Soldering iron (generic)

Story

The heart of this seismometer is MPU-6050 sensor contains a 3-axis MEMS accelerometer and a MEMS gyro in a single chip. It is very accurate, as it contains 16-bits analog to digital conversion hardware for each channel. Therefor it captures the x, y, and z channel at the same time. The sensor uses the I2C-bus to interface with the Arduino.

The first part of this project is directly taken from Silicon Chip magazine March 2018. At maximum sensitivity, the fullscale reading of this device is ±2g on each of the three axes and the 16-bit DAC gives a resolution of 0.00006g (2 ÷ 32768). MPU-6050 is that it has configurable digital low-pass and high-pass filters. The low-pass filter can be configured with a –3dB point of 5Hz, 10Hz, 21Hz, 44Hz, 94Hz, 184Hz or 260Hz. We have chosen 5Hz because this suits our application. Similarly, you can configure it for a high-pass filter of 5Hz, 2.5Hz, 1.25Hz or 0.625Hz. We have used the last option, giving a response of 0.625-5Hz. We provide an additional 1Hz high-pass filter in the software (which also helps to remove any residual gravity from the readings; for example, if the unit is not mounted perfectly horizontally). The Arduino makes a couple of dozen readings of the X, Y and Z-axis acceleration figures each second, and after processing them it uses an RMS formula to compute the magnitude of the resulting X/Y low-frequency vector. This is multiplied by a sensitivity factor, set using trimpot VR1, and if it exceeds an arbitrary threshold for more than about 200ms the alarm is triggered.

The LED diode serves as a visual indication. In case of vertical shake the LED diode shines continuously for 5 seconds, and in case of a horisontal shake it blinks. Sensitivity is adjusted by trimmer P1. For understandable reasons I can't share this part of the code but you can buy it for only 3 AUD from Silicon Chip web. The assembly described above can be used as a stand-alone device. If we want to do continuous monitoring of seismic activity, another Arduino microcontroller and specialized software is needed

The second Arduino microcontroller is an additional filter and A / D converter and through the serial port sends signals understandable to the free AMASEIS software which is a 24/7 data logger to record seismic activity. The Arduino code for this section (nerdaq), as well as the Amaseis software, can be downloaded below. To set Amaseis you can recall from my previous videos where are presented several types of seismometers. I also made minimal changes to the Silicon Chip software for this purpose, by which the A3 of the first microcontroller is defined as an analog output with a voltage proportional to the magnitude of the shock. Lastly, based on my experience so far, I can conclude that still electromechanical sensors (such as geophones) are more sensitive, since the shutter threshold of electronic sensors is quite high.

UPDATE: Silicon chip code is now free so I add modified code for this project.

Code

#include <Wire.h>
#include <Filters.h>
int out=0;
int ANALOGSEISMO=0;
const int MPU_addr=0x68;  // I2C address of the MPU-6050
FilterOnePole XFHigh(HIGHPASS, 1), YFHigh(HIGHPASS, 1), ZFHigh(HIGHPASS, 1);

#define MPU6050_AUX_VDDIO          0x01   // R/W
#define MPU6050_SMPLRT_DIV         0x19   // R/W
#define MPU6050_CONFIG             0x1A   // R/W
#define MPU6050_GYRO_CONFIG        0x1B   // R/W
#define MPU6050_ACCEL_CONFIG       0x1C   // R/W
#define MPU6050_FF_THR             0x1D   // R/W
#define MPU6050_FF_DUR             0x1E   // R/W
#define MPU6050_MOT_THR            0x1F   // R/W
#define MPU6050_MOT_DUR            0x20   // R/W
#define MPU6050_ZRMOT_THR          0x21   // R/W
#define MPU6050_ZRMOT_DUR          0x22   // R/W
#define MPU6050_FIFO_EN            0x23   // R/W
#define MPU6050_I2C_MST_CTRL       0x24   // R/W
#define MPU6050_I2C_SLV0_ADDR      0x25   // R/W
#define MPU6050_I2C_SLV0_REG       0x26   // R/W
#define MPU6050_I2C_SLV0_CTRL      0x27   // R/W
#define MPU6050_I2C_SLV1_ADDR      0x28   // R/W
#define MPU6050_I2C_SLV1_REG       0x29   // R/W
#define MPU6050_I2C_SLV1_CTRL      0x2A   // R/W
#define MPU6050_I2C_SLV2_ADDR      0x2B   // R/W
#define MPU6050_I2C_SLV2_REG       0x2C   // R/W
#define MPU6050_I2C_SLV2_CTRL      0x2D   // R/W
#define MPU6050_I2C_SLV3_ADDR      0x2E   // R/W
#define MPU6050_I2C_SLV3_REG       0x2F   // R/W
#define MPU6050_I2C_SLV3_CTRL      0x30   // R/W
#define MPU6050_I2C_SLV4_ADDR      0x31   // R/W
#define MPU6050_I2C_SLV4_REG       0x32   // R/W
#define MPU6050_I2C_SLV4_DO        0x33   // R/W
#define MPU6050_I2C_SLV4_CTRL      0x34   // R/W
#define MPU6050_I2C_SLV4_DI        0x35   // R  
#define MPU6050_I2C_MST_STATUS     0x36   // R
#define MPU6050_INT_PIN_CFG        0x37   // R/W
#define MPU6050_INT_ENABLE         0x38   // R/W
#define MPU6050_INT_STATUS         0x3A   // R  
#define MPU6050_ACCEL_XOUT_H       0x3B   // R  
#define MPU6050_ACCEL_XOUT_L       0x3C   // R  
#define MPU6050_ACCEL_YOUT_H       0x3D   // R  
#define MPU6050_ACCEL_YOUT_L       0x3E   // R  
#define MPU6050_ACCEL_ZOUT_H       0x3F   // R  
#define MPU6050_ACCEL_ZOUT_L       0x40   // R  
#define MPU6050_TEMP_OUT_H         0x41   // R  
#define MPU6050_TEMP_OUT_L         0x42   // R  
#define MPU6050_GYRO_XOUT_H        0x43   // R  
#define MPU6050_GYRO_XOUT_L        0x44   // R  
#define MPU6050_GYRO_YOUT_H        0x45   // R  
#define MPU6050_GYRO_YOUT_L        0x46   // R  
#define MPU6050_GYRO_ZOUT_H        0x47   // R  
#define MPU6050_GYRO_ZOUT_L        0x48   // R  
#define MPU6050_EXT_SENS_DATA_00   0x49   // R  
#define MPU6050_EXT_SENS_DATA_01   0x4A   // R  
#define MPU6050_EXT_SENS_DATA_02   0x4B   // R  
#define MPU6050_EXT_SENS_DATA_03   0x4C   // R  
#define MPU6050_EXT_SENS_DATA_04   0x4D   // R  
#define MPU6050_EXT_SENS_DATA_05   0x4E   // R  
#define MPU6050_EXT_SENS_DATA_06   0x4F   // R  
#define MPU6050_EXT_SENS_DATA_07   0x50   // R  
#define MPU6050_EXT_SENS_DATA_08   0x51   // R  
#define MPU6050_EXT_SENS_DATA_09   0x52   // R  
#define MPU6050_EXT_SENS_DATA_10   0x53   // R  
#define MPU6050_EXT_SENS_DATA_11   0x54   // R  
#define MPU6050_EXT_SENS_DATA_12   0x55   // R  
#define MPU6050_EXT_SENS_DATA_13   0x56   // R  
#define MPU6050_EXT_SENS_DATA_14   0x57   // R  
#define MPU6050_EXT_SENS_DATA_15   0x58   // R  
#define MPU6050_EXT_SENS_DATA_16   0x59   // R  
#define MPU6050_EXT_SENS_DATA_17   0x5A   // R  
#define MPU6050_EXT_SENS_DATA_18   0x5B   // R  
#define MPU6050_EXT_SENS_DATA_19   0x5C   // R  
#define MPU6050_EXT_SENS_DATA_20   0x5D   // R  
#define MPU6050_EXT_SENS_DATA_21   0x5E   // R  
#define MPU6050_EXT_SENS_DATA_22   0x5F   // R  
#define MPU6050_EXT_SENS_DATA_23   0x60   // R  
#define MPU6050_MOT_DETECT_STATUS  0x61   // R  
#define MPU6050_I2C_SLV0_DO        0x63   // R/W
#define MPU6050_I2C_SLV1_DO        0x64   // R/W
#define MPU6050_I2C_SLV2_DO        0x65   // R/W
#define MPU6050_I2C_SLV3_DO        0x66   // R/W
#define MPU6050_I2C_MST_DELAY_CTRL 0x67   // R/W
#define MPU6050_SIGNAL_PATH_RESET  0x68   // R/W
#define MPU6050_MOT_DETECT_CTRL    0x69   // R/W
#define MPU6050_USER_CTRL          0x6A   // R/W
#define MPU6050_PWR_MGMT_1         0x6B   // R/W
#define MPU6050_PWR_MGMT_2         0x6C   // R/W
#define MPU6050_FIFO_COUNTH        0x72   // R/W
#define MPU6050_FIFO_COUNTL        0x73   // R/W
#define MPU6050_FIFO_R_W           0x74   // R/W
#define MPU6050_WHO_AM_I           0x75   // R

#define MPU6050_D0 0
#define MPU6050_D1 1
#define MPU6050_D2 2
#define MPU6050_D3 3
#define MPU6050_D4 4
#define MPU6050_D5 5
#define MPU6050_D6 6
#define MPU6050_D7 7

#define MPU6050_DLPF_CFG0     MPU6050_D0
#define MPU6050_DLPF_CFG1     MPU6050_D1
#define MPU6050_DLPF_CFG2     MPU6050_D2
#define MPU6050_EXT_SYNC_SET0 MPU6050_D3
#define MPU6050_EXT_SYNC_SET1 MPU6050_D4
#define MPU6050_EXT_SYNC_SET2 MPU6050_D5

#define MPU6050_EXT_SYNC_SET_0 (0)
#define MPU6050_EXT_SYNC_SET_1 (bit(MPU6050_EXT_SYNC_SET0))
#define MPU6050_EXT_SYNC_SET_2 (bit(MPU6050_EXT_SYNC_SET1))
#define MPU6050_EXT_SYNC_SET_3 (bit(MPU6050_EXT_SYNC_SET1)|bit(MPU6050_EXT_SYNC_SET0))
#define MPU6050_EXT_SYNC_SET_4 (bit(MPU6050_EXT_SYNC_SET2))
#define MPU6050_EXT_SYNC_SET_5 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET0))
#define MPU6050_EXT_SYNC_SET_6 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET1))
#define MPU6050_EXT_SYNC_SET_7 (bit(MPU6050_EXT_SYNC_SET2)|bit(MPU6050_EXT_SYNC_SET1)|bit(MPU6050_EXT_SYNC_SET0))
 
#define MPU6050_EXT_SYNC_DISABLED     MPU6050_EXT_SYNC_SET_0
#define MPU6050_EXT_SYNC_TEMP_OUT_L   MPU6050_EXT_SYNC_SET_1
#define MPU6050_EXT_SYNC_GYRO_XOUT_L  MPU6050_EXT_SYNC_SET_2
#define MPU6050_EXT_SYNC_GYRO_YOUT_L  MPU6050_EXT_SYNC_SET_3
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L  MPU6050_EXT_SYNC_SET_4
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L MPU6050_EXT_SYNC_SET_5
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L MPU6050_EXT_SYNC_SET_6
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L MPU6050_EXT_SYNC_SET_7

#define MPU6050_DLPF_CFG_0 (0)
#define MPU6050_DLPF_CFG_1 (bit(MPU6050_DLPF_CFG0))
#define MPU6050_DLPF_CFG_2 (bit(MPU6050_DLPF_CFG1))
#define MPU6050_DLPF_CFG_3 (bit(MPU6050_DLPF_CFG1)|bit(MPU6050_DLPF_CFG0))
#define MPU6050_DLPF_CFG_4 (bit(MPU6050_DLPF_CFG2))
#define MPU6050_DLPF_CFG_5 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG0))
#define MPU6050_DLPF_CFG_6 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG1))
#define MPU6050_DLPF_CFG_7 (bit(MPU6050_DLPF_CFG2)|bit(MPU6050_DLPF_CFG1)|bit(MPU6050_DLPF_CFG0))
 
#define MPU6050_DLPF_260HZ    MPU6050_DLPF_CFG_0
#define MPU6050_DLPF_184HZ    MPU6050_DLPF_CFG_1
#define MPU6050_DLPF_94HZ     MPU6050_DLPF_CFG_2
#define MPU6050_DLPF_44HZ     MPU6050_DLPF_CFG_3
#define MPU6050_DLPF_21HZ     MPU6050_DLPF_CFG_4
#define MPU6050_DLPF_10HZ     MPU6050_DLPF_CFG_5
#define MPU6050_DLPF_5HZ      MPU6050_DLPF_CFG_6
#define MPU6050_DLPF_RESERVED MPU6050_DLPF_CFG_7

#define MPU6050_ACCEL_HPF0 MPU6050_D0
#define MPU6050_ACCEL_HPF1 MPU6050_D1
#define MPU6050_ACCEL_HPF2 MPU6050_D2
#define MPU6050_AFS_SEL0   MPU6050_D3
#define MPU6050_AFS_SEL1   MPU6050_D4
#define MPU6050_ZA_ST      MPU6050_D5
#define MPU6050_YA_ST      MPU6050_D6
#define MPU6050_XA_ST      MPU6050_D7
 
#define MPU6050_ACCEL_HPF_0 (0)
#define MPU6050_ACCEL_HPF_1 (bit(MPU6050_ACCEL_HPF0))
#define MPU6050_ACCEL_HPF_2 (bit(MPU6050_ACCEL_HPF1))
#define MPU6050_ACCEL_HPF_3 (bit(MPU6050_ACCEL_HPF1)|bit(MPU6050_ACCEL_HPF0))
#define MPU6050_ACCEL_HPF_4 (bit(MPU6050_ACCEL_HPF2))
#define MPU6050_ACCEL_HPF_7 (bit(MPU6050_ACCEL_HPF2)|bit(MPU6050_ACCEL_HPF1)|bit(MPU6050_ACCEL_HPF0))
 
#define MPU6050_ACCEL_HPF_RESET  MPU6050_ACCEL_HPF_0
#define MPU6050_ACCEL_HPF_5HZ    MPU6050_ACCEL_HPF_1
#define MPU6050_ACCEL_HPF_2_5HZ  MPU6050_ACCEL_HPF_2
#define MPU6050_ACCEL_HPF_1_25HZ MPU6050_ACCEL_HPF_3
#define MPU6050_ACCEL_HPF_0_63HZ MPU6050_ACCEL_HPF_4
#define MPU6050_ACCEL_HPF_HOLD   MPU6050_ACCEL_HPF_7
 
#define MPU6050_AFS_SEL_0 (0)
#define MPU6050_AFS_SEL_1 (bit(MPU6050_AFS_SEL0))
#define MPU6050_AFS_SEL_2 (bit(MPU6050_AFS_SEL1))
#define MPU6050_AFS_SEL_3 (bit(MPU6050_AFS_SEL1)|bit(MPU6050_AFS_SEL0))
 
#define MPU6050_AFS_SEL_2G  MPU6050_AFS_SEL_0
#define MPU6050_AFS_SEL_4G  MPU6050_AFS_SEL_1
#define MPU6050_AFS_SEL_8G  MPU6050_AFS_SEL_2
#define MPU6050_AFS_SEL_16G MPU6050_AFS_SEL_3

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);

  pinMode(A3, OUTPUT);
  
  pinMode(12, OUTPUT);
  digitalWrite(12, LOW);
  pinMode(A0, OUTPUT);
  pinMode(A1, INPUT);
  pinMode(A2, OUTPUT);
  digitalWrite(A0, LOW);
  digitalWrite(A2, LOW);

  Wire.begin();
  Wire.beginTransmission(MPU_addr);
  Wire.write(MPU6050_CONFIG);
  Wire.write(MPU6050_DLPF_5HZ|MPU6050_EXT_SYNC_DISABLED);
  Wire.write(MPU6050_ACCEL_CONFIG);
  Wire.write(MPU6050_ACCEL_HPF_0_63HZ|MPU6050_AFS_SEL_2G);
  Wire.write(MPU6050_PWR_MGMT_1);  // PWR_MGMT_1 register
  Wire.write(0);                   // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);
}

int Pwave_alarm_time, Pwave_alarm_going, Swave_alarm_time, Swave_alarm_going, alarm_counter, alarm_delay = 10;

void loop() {
 int16_t AcX,AcY,AcZ;
 unsigned short trimpot_val;
  float xy_vector_mag, z_vector_mag, scale_factor;

  // put your main code here, to run repeatedly:
  digitalWrite(A2, HIGH);
  trimpot_val = analogRead(A1);
  digitalWrite(A2, LOW);

  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)
  XFHigh.input(AcX / 16384.0);
  YFHigh.input(AcY / 16384.0);
  ZFHigh.input(AcZ / 16384.0 - 1.0);
  scale_factor = pow(2, trimpot_val / 100.0);
  xy_vector_mag = sqrt(XFHigh.output() * XFHigh.output() + YFHigh.output() * YFHigh.output()) * scale_factor;
  z_vector_mag = abs(ZFHigh.output() * scale_factor);
  Serial.print("|XY| = "); Serial.print(xy_vector_mag); Serial.print(", |Z| = "); Serial.println(z_vector_mag);

  ANALOGSEISMO=map(xy_vector_mag,0.00,9.00,0,1024);
  analogWrite (A3,ANALOGSEISMO);
  

  if( alarm_delay ) {
    --alarm_delay;
  } else {
    if( xy_vector_mag >= 1 )
      ++Pwave_alarm_time;
    else if( Pwave_alarm_time > 0 )
      --Pwave_alarm_time;
    if( z_vector_mag >= 1 )
      ++Swave_alarm_time;
    else if( Swave_alarm_time > 0 )
      --Swave_alarm_time;
  }

  if( Pwave_alarm_time > 5 ) {
    if( !Pwave_alarm_going )
      alarm_counter = 0;
    Pwave_alarm_going = 80;
  } else if( Swave_alarm_time > 5 ) {
    Swave_alarm_going = 80;
  }
  if( Pwave_alarm_going || Swave_alarm_going ) {
    digitalWrite(12, alarm_counter < 10 || Swave_alarm_going ? HIGH : LOW);
    if( ++alarm_counter == 20 )
      alarm_counter = 0;
    if( Pwave_alarm_going )
      Pwave_alarm_going--;
    if( Swave_alarm_going )
      Swave_alarm_going--;
  } else {
    digitalWrite(12, LOW);
  }
  delay(100);
}

Credits

Mirko Pavleski

116 projects • 1163 followers

Sensitive MPU6050 Seismometer with Data Logger

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Schematics

Schematic

Code

SiliconChip code modified

Code

Amaseis

Credits

Mirko Pavleski

Comments

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Sensitive MPU6050 Seismometer with Data Logger

Sensitive MPU6050 Seismometer with Data Logger

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Schematics

Schematic

Code

SiliconChip code modified

Code

Amaseis

Credits

Mirko Pavleski

Comments

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