Hardware Required
Software
About Gyroscope Sensor - MPU6000 I2C module
Code
Node-RED
JOIN Node
JSON Node
Email Node
Inject Node
Output
Succeeding
Credits

Published February 11, 2019

Axial Monitoring System Through Gyroscope Sensor (MPU6000)

In this blogtut, we made a simple but advanced online axial monitoring system using basic nodes of the Node-RED.

IntermediateFull instructions provided4 hours1,047

Axial Monitoring System Through Gyroscope Sensor (MPU6000)

Things used in this project

Hardware components

National Control Devices Gyroscope Sensor - MPU6000

National Control Devices Adafruit Huzzah i2c Adapter

Adafruit Huzzah Esp8266

National Control Devices I2C cable

Software apps and online services

Arduino IDE

Node-RED

Google Gmail

Story

Compact I2C devices like gyroscope sensor can easily help you out in the axial monitoring system which detects the parameters and shares it to the user through MQTT and email nodes of Node-RED services.

In this blogtut, we made soae simple but advanced online axial monitoring system using basic nodes of the Node-RED.

Hardware Required

Gyroscope Sensor - MPU6000

Adafruit Huzzah I2C shield

Adafruit Huzzah

I2C Cable

Software

Arduino IDE
GMAIL
Node red

For newbies and intermediates can check out the ESP8266 installation and resolution for the issues while installing the ESP8266 from here.

If you are not familiar with Node-RED Installation and using MQTT node in Node-RED, I suggest you to check out my previous blogtut in which I have shared all the detailed information for Getting Started with Node-RED services.

Note: Kindly do not use the I/O and dashboard nodes in the flow page which is used in the previous blog. We have mentioned about nodes which we used in this project in the below discussions.

About Gyroscope Sensor - MPU6000 I2C module

The gyroscope sensor has been used a various technical field like automotive, industrial, electronics and many more. It unveils various kind of application in many real-time concepts. Not going very far, even our smartphones consist of gyroscope sensor which specially used to detect the shaking or vibration while using the camera, playing video games, phone rotate etc. Using these sensors, we can increase the stability in various high-tech devices or a specialized anti-skid system.

MPU6000 I2C based breakout board is 3-axis I2C gyroscope and 3-axis I2C accelerometer with full-scale ranges and has the Digital-Output of 6 or 9-Axis MotionFusion™ Data in rotation matrix. The sensor can easily be connected to I2C adapters compatible with IoT development boards like Arduino, Raspberry Pi, Particle, Pycom, etc. and perform the functions by using different I2C libraries available for different programming language on GitHub.

Code

Initialize the Wire.h file called as I2C library especially use in Arduino IDE

#include <Wire.h>

Initialize the I2C registers of sensor module which is specified to work with 2 wire protocol.

#define Addr 0x68

Begin the I2C transmission and Initialize the baud rate as per the requirements for serial communication.

void setup() {
 Wire.begin(2,14);
 Serial.begin(115200);
 setup_wifi();
 client.setServer(mqtt_server, 1883); // Initialize MQTT Server
 client.setClient(espClient);         // Esp Client Setup   
 }

Request for 6 bytes of Data which we want to read from the sensor through I2C connection for X, Y, Z axis to read the axis as well as rotation

 // Request 6 bytes of data
 Wire.requestFrom(Addr, 6);
 // Read 6 byte of data 
 if(Wire.available() == 6)
 {
   data[0] = Wire.read();
   data[1] = Wire.read();
   data[2] = Wire.read();
   data[3] = Wire.read();
   data[4] = Wire.read();
   data[5] = Wire.read(); 
 }

If 2 bytes of data is available then use the mentioned below formula will help to convert the data bytes and display desired values

 // Convert the data for axis (x,y,z)
 int xAccl = data[0] * 256 + data[1];
 int yAccl = data[2] * 256 + data[3];
 int zAccl = data[4] * 256 + data[5];
 // Convert the data gyro rotation
 int xGyro = data[0] * 256 + data[1];
 int yGyro = data[2] * 256 + data[3];
 int zGyro = data[4] * 256 + data[5];

Manipulate the axis parameters as per the requirement through Sensitivity and resolution settings given in datasheet

 // Axis Data
 float acclX = xAccl/4096;
 float acclY = yAccl/4096;
 float acclZ = zAccl/4096;
 // Rotation Data in degrees per second
 float gyroX = xGyro/131;
 float gyroY = yGyro/131;
 float gyroZ = zGyro/131;

Using Serial.print you will be able to read the sensor data in the serial monitor screen.

Serial.print("AccelX: ");
Serial.println(AccelX);
Serial.print("AccelY: ");
Serial.println(AccelX);
Serial.print("AccelZ ");
Serial.println(AccelX)
Serial.print("gyroX: ");
Serial.println(yaw1);
Serial.print("gyroY: ");
Serial.println(yaw2);
Serial.print("gyroZ: ");
Serial.println(yaw3)

With the help of MPU6000 Sensor, I have figured out use YAW rotation in the individual axis which used to detect the rotation of the rigid body which changes the direction using mentioned below formula

Node-RED

After working with an above different way to monitor gyro sensor (MPU6000) with Arduino, let's detect the Axial direction and YAW rotation with Node-RED dashboard.

For installation of Node-RED and to install the different nodes in node red in windows operating and to use MQTT please go through the previous blogtut.

In this project, We will be using MQTT, Join, JSON nodes, email in Node-RED dashboard via ESP8266.

JOIN Node

With help of JOIN node, we can join the output from more than one node at same and using this node we are going to club all the MQTT nodes with different topics

Open the Node-RED using the command Node-RED in command prompt
Copy the loop-back IP mentioned in command prompt (Loopback IP:1880) and paste it on Web-browser
Click on Manage Pallete by clicking top right “hamburger” icon
Select and drag the Join Node (from the left side of node options) in a flow page.
Double Click on Join node
Click on MODE
Select Manual mode
Click on the CheckBox of “ and every subsequent message”
Click Done
Join all the MQTT node with Join node

Note: You can also set as per your requirement

JSON Node

JSON node will help us to convert the output of different nodes in JSON string which can be further used in many different ways

Select and drag the JSON Node (from the left side of node options) in a flow page.
Double Click on JSON node
Click on Action drop-down and select convert between JSON string & object
Click Done

Email Node

Using email output node we are going to send the email alert to the user and using it with node red is one of the best way by just entering the email id and credentials. After drag and drop of email node

Double click on Email node
Write Email ID you want to send
Fill out the user credential in Username and Password Textbox
Click Done

Inject Node

The Most Importantly using and inject node to write down message to be showed in message title while sending the data in email id and will connect the the inject node with JOIN node only which combines and make one string.

After Drag and Drop double click on Inject node
Enter the Topic name what you want to display in the email title
Click on Repeat drop-down setup the intervals as per requirements
Also, set the interval to automatically inject this node
Click on Done

After that join all the nodes as mentioned below in the snap

Start and reset the ESP8266 and open the Node-RED dashboard in your laptop or your smartphone with help my I2C Relay Blogtut which help you to open the Node-RED dashboard in your smartphone in a much secure way by making it work on the same network only.

Not only that you can also check the parameters which have sent on your Email ID also in JSON format.

Output

Succeeding

The MPU6000 I2C module will help you to do the axial monitoring of rigid equipment application especially in the field of automotive, industrial, aerodynamics.
Using this kind of sensor with node red services will help the user in many industrial applications and will give access the user to monitor the data through the smart very securely within the network.
As while working with YAW rotation we have tested the steering alignment of Car and with some consultation the data we made the rotation formula more accurate.
MPU6000 sensor will help to detect the car coordinates and detect the acceleration of a vehicles, distance traveled from initial place to final place and keep you posted through email alerts as well as through Google Maps (using cellular device to connect with internet).
Not gone so vast but it do help aerospace vehicles to detect the roll, pitch and yaw axis detection through physics laws and formulas specialized to use with these sensors.

Credits

ControlEverything Community

Raw Data Conversion of MPU6000

Join All the MQTT Data in One JSON String

#include <PubSubClient.h>
#include <ESP8266WiFi.h>
#include <Wire.h>

//Define I2C address
#define Addr 0x68

//Wifi Credentials
#define wifi_ssid "DcubeAirtel"
#define wifi_password "D@Airtel190"

//Define MQTT server and topics
#define mqtt_server "iot.eclipse.org"
#define X_topic "AccelX"
#define Y_topic "AccelY"
#define Z_topic "AccelZ"
#define XR_topic "RotateX"
#define YR_topic "RotateY"
#define ZR_topic "RotateZ"

WiFiClient espClient;
PubSubClient client;

//Global Variable
volatile float Xtopic, Ytopic, Ztopic, XRtopic, YRtopic, ZRtopic; // using volatile with variable - It tells the compiler that the value of the variable may change at any time--without any action being taken by the code the compiler finds nearby.
uint32_t timer;
double  yaw1,yaw2,yaw3; //These are the angles in the complementary filter(roll, pitch)
float rollangle,pitchangle;

// Setup
void setup() {
  Wire.begin(2,14);
  Serial.begin(115200);
  setup_wifi();
  client.setServer(mqtt_server, 1883);
  client.setClient(espClient);
//  //start a timer
//  timer = micros();
  }

//Wifi Setup
void setup_wifi() {
  delay(10);
  // We start by connecting to a WiFi network
  Serial.println();
  Serial.print("Connecting to ");
  Serial.println(wifi_ssid);

  WiFi.begin(wifi_ssid, wifi_password);

  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }

  Serial.println("");
  Serial.println("WiFi connected");
  Serial.println("IP address: ");
  Serial.println(WiFi.localIP());
}

//Reconnect
void reconnect() {
  // Loop until we're reconnected
  while (!client.connected()) {
    Serial.print("Attempting MQTT connection...");
      if (client.connect("ESP8266Client")) {
      Serial.println("connected");
    } 
    else {
      Serial.print("failed, rc=");
      Serial.print(client.state());
      Serial.println(" try again in 5 seconds");
      // Wait 5 seconds before retrying
      delay(500);
    }
  }
}


void loop()
{
//  delay(100);
//  Timer = millis();
//  while(millis()- Timer<=Interval)// use intervels as per mentioned earlier
//  {
  tempTask();
  delay(100);
//  }
  
  if (!client.connected()) {
    reconnect();
  }
 
  //Mentioned below directly executed in String url
  
  Serial.print("X Axis: ");
  Serial.println(String(Xtopic).c_str());
  client.publish(X_topic, String(Xtopic).c_str(), true);

  Serial.print("Y Axis: ");
  Serial.println(String(Ytopic).c_str());
  client.publish(Y_topic, String(Ytopic).c_str(), true);
  
  Serial.print("Z Axis: ");
  Serial.println(String(Ztopic).c_str());
  client.publish(Z_topic, String(Ztopic).c_str(), true);

  Serial.print("X Rotate: ");
  Serial.println(String(XRtopic).c_str());
  client.publish(XR_topic, String(XRtopic).c_str(), true);

  Serial.print("Y Rotate: ");
  Serial.println(String(YRtopic).c_str());
  client.publish(YR_topic, String(YRtopic).c_str(), true);

  Serial.print("Z Rotate: ");
  Serial.println(String(ZRtopic).c_str());
  client.publish(ZR_topic, String(ZRtopic).c_str(), true);
  client.loop();
  }
  

void tempTask()
{
   // Start I2C transmission
  Wire.beginTransmission(Addr);
  // Select gyroscope configuration register
  Wire.write(0x1B);
  // Full scale range = 2000 dps
  Wire.write(0x18);
  // Stop I2C transmission
  Wire.endTransmission();
  
  // Start I2C transmission
  Wire.beginTransmission(Addr);
  // Select accelerometer configuration register
  Wire.write(0x1C);
  // Full scale range = +/-16g
  Wire.write(0x18);
  // Stop I2C transmission
  Wire.endTransmission();
  
  // Start I2C transmission
  Wire.beginTransmission(Addr);
  // Select power management register
  Wire.write(0x6B);
  // PLL with xGyro reference
  Wire.write(0x01);
  // Stop I2C transmission
  Wire.endTransmission();
  delay(300);
  
  unsigned int data[6];

  // Start I2C transmission
  Wire.beginTransmission(Addr);
  // Select data register
  Wire.write(0x3B);
  // Stop I2C transmission
  Wire.endTransmission();
  
  // Request 6 bytes of data
  Wire.requestFrom(Addr, 6);
  
  // Read 6 byte of data 
  if(Wire.available() == 6)
  {
    data[0] = Wire.read();
    data[1] = Wire.read();
    data[2] = Wire.read();
    data[3] = Wire.read();
    data[4] = Wire.read();
    data[5] = Wire.read(); 
  }
  
  // Convert the data
  int xAccl = data[0] * 256 + data[1];
  int yAccl = data[2] * 256 + data[3];
  int zAccl = data[4] * 256 + data[5];

  // Start I2C transmission
  Wire.beginTransmission(Addr);
  // Select data register 
  Wire.write(0x43);
  // Stop I2C transmission
  Wire.endTransmission();
  
  // Request 6 bytes of data
  Wire.requestFrom(Addr, 6);
  
  // Read 6 byte of data 
  if(Wire.available() == 6)
  {
    data[0] = Wire.read();
    data[1] = Wire.read();
    data[2] = Wire.read();
    data[3] = Wire.read();
    data[4] = Wire.read();
    data[5] = Wire.read(); 
  }
  // Convert the data
  int xGyro = data[0] * 256 + data[1];
  int yGyro = data[2] * 256 + data[3];
  int zGyro = data[4] * 256 + data[5];
  
  float gyroX = xGyro/262.2;
  float gyroY = yGyro/262.2;
  float gyroZ = zGyro/262.2;

  float acclX = xAccl/4096;
  float acclY = yAccl/4096;
  float acclZ = zAccl/4096;

//  double dt = (double)(micros() - timer) / 1000000; //This line does three things: 1) stops the timer, 2)converts the timer's output to seconds from microseconds, 3)casts the value as a double saved to "dt".
//  timer = micros(); //start the timer again so that we can calculate the next dt.
  
//  the next two lines calculate the orientation of the accelerometer relative to the earth and convert the output of atan2 from radians to degrees
//  We will use this data to correct any cumulative errors in the orientation that the gyroscope develops.
//  rollangle=atan2(acclY,acclZ)*180/PI; // FORMULA FOUND ON INTERNET
//  pitchangle=atan2(acclX,sqrt(acclY*acclY+acclZ*acclZ))*180/PI; //FORMULA FOUND ON INTERNET

//  THE COMPLEMENTARY FILTER
//  This filter calculates the angle based MOSTLY on integrating the angular velocity to an angular displacement.
//  dt, recall, is the time between gathering data from the MPU6050.  We'll pretend that the 
//  angular velocity has remained constant over the time dt, and multiply angular velocity by 
//  time to get displacement.
//  The filter then adds a small correcting factor from the accelerometer ("roll" or "pitch"), so the gyroscope knows which way is down. 
//  roll = 0.99 * (roll+ gyroX * dt) + 0.01 * rollangle; // Calculate the angle using a Complimentary filter
//  pitch = 0.99 * (pitch + gyroY * dt) + 0.01 * pitchangle; 
  

  yaw3 = gyroZ;
  yaw2 = gyroY;
  yaw1 = gyroX;
  
  
  Xtopic = acclX;
  Ytopic = acclY;
  Ztopic = acclZ;
  XRtopic = yaw1; 
  YRtopic = yaw2;
  ZRtopic = yaw3;
  
  delay(10);
}

[{"id":"70bb51d9.36fd7","type":"tab","label":"Flow 1","disabled":false,"info":""},{"id":"90b72cb9.a576b","type":"mqtt in","z":"70bb51d9.36fd7","name":"","topic":"AccelX","qos":"2","broker":"2f70a0d2.a0ff7","x":149,"y":62,"wires":[["2caa73c6.f4668c","6b2455db.5dd54c"]]},{"id":"4b196317.f1353c","type":"mqtt in","z":"70bb51d9.36fd7","name":"","topic":"AccelY","qos":"2","broker":"2f70a0d2.a0ff7","x":212,"y":142,"wires":[["d878dabf.c44648","6b2455db.5dd54c"]]},{"id":"9121d6b9.db3b48","type":"mqtt in","z":"70bb51d9.36fd7","name":"","topic":"AccelZ","qos":"2","broker":"2f70a0d2.a0ff7","x":118,"y":225,"wires":[["9d9c16d2.ffefc8","6b2455db.5dd54c"]]},{"id":"d5454e1f.25e7c","type":"mqtt in","z":"70bb51d9.36fd7","name":"","topic":"RotateX","qos":"2","broker":"2f70a0d2.a0ff7","x":103,"y":319,"wires":[["445e5804.310f18","6b2455db.5dd54c"]]},{"id":"e936435a.bcbdb","type":"mqtt in","z":"70bb51d9.36fd7","name":"","topic":"RotateY","qos":"2","broker":"2f70a0d2.a0ff7","x":72,"y":435,"wires":[["d3579215.5808d","6b2455db.5dd54c"]]},{"id":"ca6d5386.ca764","type":"mqtt in","z":"70bb51d9.36fd7","name":"","topic":"RotateZ","qos":"2","broker":"2f70a0d2.a0ff7","x":245,"y":439,"wires":[["2821f222.561f7e","6b2455db.5dd54c"]]},{"id":"2caa73c6.f4668c","type":"ui_gauge","z":"70bb51d9.36fd7","name":"","group":"41966ddc.701f44","order":1,"width":0,"height":0,"gtype":"compass","title":"X","label":"units","format":"{{value}}","min":0,"max":"50","colors":["#00b500","#e6e600","#ca3838"],"seg1":"","seg2":"","x":155,"y":20,"wires":[]},{"id":"d878dabf.c44648","type":"ui_gauge","z":"70bb51d9.36fd7","name":"","group":"214bf69f.fbceca","order":1,"width":0,"height":0,"gtype":"compass","title":"Y","label":"units","format":"{{value}}","min":0,"max":"50","colors":["#00b500","#e6e600","#ca3838"],"seg1":"","seg2":"","x":210,"y":101,"wires":[]},{"id":"9d9c16d2.ffefc8","type":"ui_gauge","z":"70bb51d9.36fd7","name":"","group":"15c53cc2.e75d93","order":1,"width":0,"height":0,"gtype":"compass","title":"Z","label":"units","format":"{{value}}","min":0,"max":10,"colors":["#00b500","#e6e600","#ca3838"],"seg1":"","seg2":"","x":106,"y":175,"wires":[]},{"id":"445e5804.310f18","type":"ui_gauge","z":"70bb51d9.36fd7","name":"","group":"41966ddc.701f44","order":2,"width":0,"height":0,"gtype":"wave","title":"X 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Axis","tab":"65f4b922.5ef4a8","order":3,"disp":true,"width":"6","collapse":false},{"id":"65f4b922.5ef4a8","type":"ui_tab","z":"","name":"X","icon":"dashboard","order":2}]

Credits

Varul Jain

12 projects • 13 followers

Beginner, Creator, IOT Developer, working with IOT Prototypes

Axial Monitoring System Through Gyroscope Sensor (MPU6000)

Things used in this project

Hardware components

Software apps and online services

Story

Hardware Required

Software

About Gyroscope Sensor - MPU6000 I2C module

Code

Node-RED

JOIN Node

JSON Node

Email Node

Inject Node

Output

Succeeding

Credits

Code

MPU6000_Axial_Monitoring

Node_Red_Flow(MQTT and Gmail)

MPU6000_Esp8266

Credits

Varul Jain

Comments

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Axial Monitoring System Through Gyroscope Sensor (MPU6000)

Axial Monitoring System Through Gyroscope Sensor (MPU6000)

Things used in this project

Hardware components

Software apps and online services

Story

Hardware Required

Software

About Gyroscope Sensor - MPU6000 I2C module

Code

Node-RED

JOIN Node

JSON Node

Email Node

Inject Node

Output

Succeeding

Credits

Code

MPU6000_Axial_Monitoring

Node_Red_Flow(MQTT and Gmail)

MPU6000_Esp8266

Credits

Varul Jain

Comments

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