https://github.com/asukiaaa/mpu9250_asukiaaa
A library for arduino to read value of MPU9250.
https://github.com/asukiaaa/mpu9250_asukiaaa
accelerometer arduino gyrometer magnetometer mpu9250
Last synced: about 1 month ago
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A library for arduino to read value of MPU9250.
- Host: GitHub
- URL: https://github.com/asukiaaa/mpu9250_asukiaaa
- Owner: asukiaaa
- License: mit
- Created: 2017-07-07T07:49:59.000Z (almost 8 years ago)
- Default Branch: master
- Last Pushed: 2023-02-26T02:59:28.000Z (about 2 years ago)
- Last Synced: 2024-05-01T15:30:18.934Z (12 months ago)
- Topics: accelerometer, arduino, gyrometer, magnetometer, mpu9250
- Language: C++
- Size: 56.6 KB
- Stars: 86
- Watchers: 8
- Forks: 30
- Open Issues: 11
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# MPU9250_asukiaaa [](https://travis-ci.org/asukiaaa/MPU9250_asukiaaa)
A library to read values from MPU9250.
# Installation
You can install to Arduino IDE with using library manager.
1. Select [Sketch -> Include Library -> Manage Libraries] to open library manager.
2. Search MPU9250 in library manager.
3. Select and install this project.
# Connection
For uno, nano and so on.
| Arduino | MPU9250 |
|---------|---------|
| 3.3 | VCC |
| A4(SDA) | SDA |
| A5(SCL) | SCL |
| GND | GND |
For other boards, please check [i2c pin assign](https://www.arduino.cc/en/Reference/Wire).
# Usage
You can see all function on [example project](https://github.com/asukiaaa/MPU9250_asukiaaa/blob/master/examples/GetData/GetData.ino).
## Accelerometer
```c
#include
MPU9250_asukiaaa mySensor;
float aX, aY, aZ, aSqrt;
void setup() {
Wire.begin();
mySensor.setWire(&Wire);
mySensor.beginAccel();
}
void loop() {
mySensor.accelUpdate();
aX = mySensor.accelX();
aY = mySensor.accelY();
aZ = mySensor.accelZ();
aSqrt = mySensor.accelSqrt();
// Do what you want
}
```
## Gyrometer
```c
#include
MPU9250_asukiaaa mySensor;
float gX, gY, gZ;
void setup() {
Wire.begin();
mySensor.setWire(&Wire);
mySensor.beginGyro();
}
void loop() {
mySensor.gyroUpdate();
gX = mySensor.gyroX();
gY = mySensor.gyroY();
gZ = mySensor.gyroZ();
// Do what you want
}
```
## Magnetometer
```c
#include
MPU9250_asukiaaa mySensor;
float mDirection;
uint16_t mX, mY, mZ;
void setup() {
Wire.begin();
mySensor.setWire(&Wire);
mySensor.beginMag();
}
void loop() {
Serial.begin(115200);
mySensor.magUpdate();
mX = mySensor.magX();
mY = mySensor.magY();
mZ = mySensor.magZ();
mDirection = mySensor.magHorizDirection();
// Do what you want
}
```
If you cannot get values by calling magUpdate, try calling beginMag and magUpdate again.
```c
void loop() {
auto result = mySensor.magUpdate();
if (result != 0) {
mySensor.beginMag();
result = mySensor.magUpdate();
}
}
```
If you get values of sensor like this..
Name | Max | Min
-----|----:|----:
magX | 70 | -30
maxY | 110 | 10
You can calcurate offset values like this.
```
maxXOffset = - (magXMax + magXMin) / 2
= - (70 - 30) / 2
= - 40 / 2
= -20
```
```
magYOffset = - (magYMax + magYMin) / 2
= - (110 + 10) / 2
= - 120 / 2
= -60
```
Then set the offset values like this.
```c
void setup() {
mySensor.magXOffset = -20;
mySensor.magYOffset = -60;
}
```
Then you can get like this.
Name | Max | Min
-----|----:|----:
magX | 50 | -50
maxY | 50 | -50
After setting offset value, you can get `magHorizDirection` as you expected.
Warning: Offset value changes by temperature or some reason. If you want to get high accuracy value, you should recheck the offset value.
Example about auto calibration (calculating offset values) is [here](https://github.com/asukiaaa/MPU9250_asukiaaa/blob/master/examples/GetMagOffset/GetMagOffset.ino).
## With customizable Wire
For ESP32 and so on.
```c
#define SDA_PIN 21
#define SCL_PIN 22
void setup() {
Wire.begin(SDA_PIN, SCL_PIN);
mySensor.setWire(&Wire);
}
```
# License
MIT
# References
- [ArduinoでMPU9250（加速度センサ、磁気センサ）を使う方法](http://asukiaaa.blogspot.jp/2017/07/arduinompu9250.html)
- [MPU-9250 | TDK](https://www.invensense.com/products/motion-tracking/9-axis/mpu-9250/)
- [MPU-9250Product SpecificationRevision 1.1](http://www.invensense.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf)
- [MPU-9250Register Map and DescriptionsRevision 1.6](http://www.invensense.com/wp-content/uploads/2017/11/RM-MPU-9250A-00-v1.6.pdf)
- [HaLakeKit-Library](https://github.com/nyampass/HaLakeKit-Library)
- [Aliexpress MPU9250](https://www.aliexpress.com/wholesale?catId=0&initiative_id=AS_20170706234529&SearchText=MPU9250)
- [AK8963 datasheet](https://www.akm.com/akm/en/file/datasheet/AK8963C.pdf)
- [jrowberg/i2cdevlib/Arduino/AK8963](https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/AK8963)
- [SparkFun_MPU-9250](https://github.com/sparkfun/SparkFun_MPU-9250_Breakout_Arduino_Library/blob/master/src/MPU9250.cpp)
- [「MPU-9250 ９軸センサモジュール (メーカー品番：MPU-9250)」を使う](https://qiita.com/boyaki_machine/items/915f7730c737f2a5cc79)
- [【PSoC】MPU-9250のデータを取得（加速度、ジャイロ編）](http://amamitokachi.com/2017/04/12/post-71/)