MPU 6050 Random Gyro Data

Projects Programming
1

Hi,
Iam trying to read data from MPU6050 using following code

/*
 * This sketch is used to read raw data(accelrometer and gyro) from mpu6050
 * 
 * The Following registers have to be configured / used to get the data from mpu6050
 * 
 *          Register Name              Address (in HEX)       VALUE
 *     Power Management Register         6B                 0b00000000
 *     GYRO Configuration                1B                 0b00000000
 *     ACCELEROMTER Config               1C                 0b00000000
 *     Gyro Readings                   43,44,45,46,47,48    43 X_OUT[15:8] , 44 X_OUT[7:0] , Y , Z
 *     Acceleromter Readings           3B,3C,3D,3E,3F,40    3B ACC_X_OUT[15:8] , 3C ACC_X_OUT[7:0] , Y , Z
 *     
 * Upon power up MPU6050 will go to sleep, we need to set the sleep bit to 0 to put the system in wake mode
 * Gyro/Acceler Config is used to set the Full scale setting for Gyro/Accelerometer. selected Full Scale are 200 degrees / seconds for gyro and 2g for accelerometers 
 * For selected FS Sensitivity scale factor's are 131 for gyro and 16384 for accelrometer.
 * 
 * For more info see 
 *      Data sheet - https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf
 *      Register Description - https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf
 * 
 */

#include <Wire.h>

#define GYRO_SENSITIVITY_SCALE_FACTOR 131 //for 200 degrees / sec
#define ACCR_SENSITIVITY_SCALE_FACTOR 16384 // for 2g

#define MPU6050_ADDR 0b1101000
#define PWR_REG_ADDR 0x6B
#define GYRO_CONFIG_REG_ADDR 0x1B
#define ACCR_CONFIG_REG_ADDR 0x1C

#define GYRO_READ_START_ADDR 0x43
#define ACCR_READ_START_ADDR 0x3B

long accrX,accrY,accrZ;
float gForceX,gForceY,gForceZ;

long gyroX,gyroY,gyroZ;
float rotX,rotY,rotZ;

void setup() {
 Wire.begin();
 Serial.begin(115200);
 setUpMPU();
}//end of setup

void loop() {

  readAccrRegisters();
  readGyroRegisters();
  printData();
  delay(100);
}//end of loop

/*
 * this function is used to 
 *        - put the MPU out of sleep mode
 *        - set the GYRO Full Scale Range
 *        - set the Acceleromter Full Scale Range
 */
void setUpMPU(){

  //Power Register
  Wire.beginTransmission(MPU6050_ADDR);
  Wire.write(PWR_REG_ADDR);//Access the power register
  Wire.write(0b00000000);
  Wire.endTransmission();

  //Gyro Config
  Wire.beginTransmission(MPU6050_ADDR);
  Wire.write(GYRO_CONFIG_REG_ADDR);
  Wire.write(0b00000000);
  Wire.endTransmission();

  //Accr Config
  Wire.beginTransmission(MPU6050_ADDR);
  Wire.write(ACCR_CONFIG_REG_ADDR);
  Wire.write(0b00000000);
  Wire.endTransmission();
}//end of setUpMPU Fcn


void readAccrRegisters(){
  Wire.beginTransmission(MPU6050_ADDR);
  Wire.write(ACCR_READ_START_ADDR);
  Wire.end();

  Wire.requestFrom(MPU6050_ADDR,6);
  while(Wire.available() < 6); // wait until 6 bytes received i.e burst read
  accrX = Wire.read() << 8 | Wire.read(); //store first two bytes
  accrY = Wire.read() << 8 | Wire.read(); 
  accrZ = Wire.read() << 8 | Wire.read();

  processAccrData();
}//end of readAccrRegisters Fcn

void readGyroRegisters(){
  Wire.beginTransmission(MPU6050_ADDR);
  Wire.write(GYRO_READ_START_ADDR);
  Wire.end();

  Wire.requestFrom(MPU6050_ADDR,6);
  while(Wire.available() < 6);
  gyroX = Wire.read() << 8 | Wire.read();
  gyroY = Wire.read() << 8 | Wire.read();
  gyroZ = Wire.read() << 8 | Wire.read();
  
  processGyroData();
}//end of readGyroRegisters Fcn

void printData(){
  Serial.print("Gyro  ");
  Serial.print("X - ");
  Serial.print(rotX);
  Serial.print(" Y - ");
  Serial.print(rotY);
  Serial.print(" Z - ");
  Serial.println(rotZ);

  Serial.print("Accr  ");
  Serial.print("X - ");
  Serial.print(gForceX);
  Serial.print(" Y - ");
  Serial.print(gForceY);
  Serial.print(" Z - ");
  Serial.println(gForceZ);
}//end of printData Fcn

void processAccrData(){
  gForceX = accrX / ACCR_SENSITIVITY_SCALE_FACTOR;
  gForceY = accrY / ACCR_SENSITIVITY_SCALE_FACTOR;
  gForceZ = accrZ / ACCR_SENSITIVITY_SCALE_FACTOR;
}//end of processAccrData Fcn

void processGyroData(){
  rotX = gyroX / GYRO_SENSITIVITY_SCALE_FACTOR;
  rotY = gyroY / GYRO_SENSITIVITY_SCALE_FACTOR;
  rotZ = gyroZ / GYRO_SENSITIVITY_SCALE_FACTOR;  
}//end of processGyroData Fcn

Iam getting the following output.

Gyro  X - 35.00 Y - 37.00 Z - -232.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - -218.00 Y - 187.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 5.00 Y - 7.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - -237.00 Z - 5.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 79.00 Y - 214.00 Z - -78.00
Accr  X - 0.00 Y - 0.00 Z - -1.00
Gyro  X - 21.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - -1.00 Y - 0.00 Z - 1.00
Gyro  X - 0.00 Y - 35.00 Z - 37.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - -240.00 Y - -207.00 Z - 187.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - -63.00 Y - 39.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - -237.00
Accr  X - 1.00 Y - 0.00 Z - 0.00
Gyro  X - 11.00 Y - 79.00 Z - 214.00
Accr  X - -1.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 21.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - -1.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 35.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 181.00 Y - -189.00 Z - -209.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - -52.00 Z - 1.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 1.00 Z - 0.00
Gyro  X - -14.00 Y - 11.00 Z - 79.00
Accr  X - 1.00 Y - -1.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 21.00
Accr  X - -1.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - -1.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 40.00 Y - 189.00 Z - -242.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - -125.00 Y - 0.00 Z - -44.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 1.00
Gyro  X - 1.00 Y - -14.00 Z - 11.00
Accr  X - 0.00 Y - 1.00 Z - -1.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - -1.00 Y - -1.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - -234.00 Y - 68.00 Z - 212.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - -125.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 1.00 Z - 0.00
Gyro  X - -38.00 Y - 1.00 Z - -14.00
Accr  X - 0.00 Y - 0.00 Z - 1.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - -1.00 Z - -1.00
Gyro  X - 157.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - -236.00 Y - 215.00 Z - 17.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - -125.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 211.00 Y - 3.00 Z - 3.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 5.00 Y - -38.00 Z - 1.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - -78.00 Y - 0.00 Z - 0.00
Accr  X - -1.00 Y - 0.00 Z - -1.00
Gyro  X - 0.00 Y - 157.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 1.00 Y - 0.00 Z - 0.00
Gyro  X - 37.00 Y - -193.00 Z - -97.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 207.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00
Gyro  X - 0.00 Y - 0.00 Z - 0.00
Accr  X - 0.00 Y - 0.00 Z - 0.00

Why iam getting random spikes in Gyro data ? Is it normal ?
Iam using GY-521 Module. Connected Arduino 5v to Module VCC.

is there something wrong with the code ?
or module faulty ?

2

Update :
The sketch taken from Arduino Playground - MPU-6050 giving me data without any spikes.

// MPU-6050 Short Example Sketch
// By Arduino User JohnChi
// August 17, 2014
// Public Domain
//Sketch taken from https://playground.arduino.cc/Main/MPU-6050

#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/16384);
  Serial.print(" | AcY = "); Serial.print(AcY/16384);
  Serial.print(" | AcZ = "); Serial.print(AcZ/16384);
  Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53);  //equation for temperature in degrees C from datasheet
  Serial.print(" | GyX = "); Serial.print(GyX/131);
  Serial.print(" | GyY = "); Serial.print(GyY/131);
  Serial.print(" | GyZ = "); Serial.println(GyZ/131);
  delay(100);
}

Output :

AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.00 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -3 | GyY = 2 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = 0
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -2 | GyY = 2 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.00 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 2 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.00 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.05 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.00 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 2 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.00 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.81 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -2 | GyY = 3 | GyZ = 0
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 2 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.00 | GyX = -2 | GyY = 2 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -2 | GyY = 3 | GyZ = 0
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 2 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.00 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -3 | GyY = 2 | GyZ = 0
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.09 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = 0
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -3 | GyY = 3 | GyZ = 0
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -3 | GyY = 3 | GyZ = 0
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -2 | GyY = 2 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.05 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.00 | GyX = -2 | GyY = 2 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.00 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.05 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 33.05 | GyX = -2 | GyY = 3 | GyZ = 0
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -2 | GyY = 2 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -3 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.86 | GyX = -2 | GyY = 2 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.95 | GyX = -2 | GyY = 3 | GyZ = -1
AcX = 0 | AcY = 0 | AcZ = 1 | Tmp = 32.91 | GyX = -2 | GyY = 3 | GyZ = -1

can anyone explain why code in #1 is giving me random data ?