Arduino library for MPU9250 Nine-Axis (Gyro + Accelerometer + Compass) MEMS MotionTracking™ Device
This library is based on the great work by kriswiner, and re-writen for the simple usage.
#include "MPU9250.h"
MPU9250 mpu;
// MPU9255 mpu; // You can also use MPU9255
void setup() {
Serial.begin(115200);
Wire.begin();
delay(2000);
mpu.setup(0x68); // change to your own address
}
void loop() {
if (mpu.update()) {
mpu.printRollPitchYaw();
}
}
- accel/gyro/mag offsets are NOT stored to register if the MPU has powered off (app note)
- need to set all offsets at every bootup by yourself (or calibrate at every bootup)
- device should be stay still during accel/gyro calibration
- round device around during mag calibration
#include "MPU9250.h"
MPU9250 mpu;
// MPU9255 mpu; // You can also use MPU9255
void setup() {
Serial.begin(115200);
Wire.begin();
delay(2000);
mpu.setup(0x68); // change to your own address
delay(5000);
// calibrate anytime you want to
mpu.calibrateAccelGyro();
mpu.calibrateMag();
mpu.printCalibration();
}
void loop() { }
You must set your own address based on A0, A1, A2 setting as:
mpu.setup(0x70);
You can set your own setting using MPU9250Setting
struct as:
MPU9250Setting setting;
setting.accel_fs_sel = ACCEL_FS_SEL::A16G;
setting.gyro_fs_sel = GYRO_FS_SEL::G2000DPS;
setting.mag_output_bits = MAG_OUTPUT_BITS::M16BITS;
setting.fifo_sample_rate = FIFO_SAMPLE_RATE::SMPL_200HZ;
setting.gyro_fchoice = 0x03;
setting.gyro_dlpf_cfg = GYRO_DLPF_CFG::DLPF_41HZ;
setting.accel_fchoice = 0x01;
setting.accel_dlpf_cfg = ACCEL_DLPF_CFG::DLPF_45HZ;
mpu.setup(0x68, setting);
See custom_setting.ino
example for detail.
enum class ACCEL_FS_SEL { A2G, A4G, A8G, A16G };
enum class GYRO_FS_SEL { G250DPS, G500DPS, G1000DPS, G2000DPS };
enum class MAG_OUTPUT_BITS { M14BITS, M16BITS };
enum class FIFO_SAMPLE_RATE : uint8_t {
SMPL_1000HZ,
SMPL_500HZ,
SMPL_333HZ,
SMPL_250HZ,
SMPL_200HZ,
SMPL_167HZ,
SMPL_143HZ,
SMPL_125HZ,
};
enum class GYRO_DLPF_CFG : uint8_t {
DLPF_250HZ,
DLPF_184HZ,
DLPF_92HZ,
DLPF_41HZ,
DLPF_20HZ,
DLPF_10HZ,
DLPF_5HZ,
DLPF_3600HZ,
};
enum class ACCEL_DLPF_CFG : uint8_t {
DLPF_218HZ_0,
DLPF_218HZ_1,
DLPF_99HZ,
DLPF_45HZ,
DLPF_21HZ,
DLPF_10HZ,
DLPF_5HZ,
DLPF_420HZ,
};
struct MPU9250Setting {
ACCEL_FS_SEL accel_fs_sel {ACCEL_FS_SEL::A16G};
GYRO_FS_SEL gyro_fs_sel {GYRO_FS_SEL::G2000DPS};
MAG_OUTPUT_BITS mag_output_bits {MAG_OUTPUT_BITS::M16BITS};
FIFO_SAMPLE_RATE fifo_sample_rate {FIFO_SAMPLE_RATE::SMPL_200HZ};
uint8_t gyro_fchoice {0x03};
GYRO_DLPF_CFG gyro_dlpf_cfg {GYRO_DLPF_CFG::DLPF_41HZ};
uint8_t accel_fchoice {0x01};
ACCEL_DLPF_CFG accel_dlpf_cfg {ACCEL_DLPF_CFG::DLPF_45HZ};
};
Magnetic declination should be set depending on where you are to get accurate data. To set it, use this method.
mpu.setMagneticDeclination(value);
You can find magnetic declination in your city here.
For more details, see wiki.
You can use other I2C library e.g. SoftWire.
MPU9250_<SoftWire, MPU9250_WHOAMI_DEFAULT_VALUE> mpu;
SoftWire sw(SDA, SCL);
// you need setting struct
MPU9250Setting setting;
// in setup()
mpu.setup(0x70, setting, sw);
To use MPU9255 instead of MPU9250, just declare MPU9255.
MPU9255 mpu;
bool setup(const uint8_t addr, const MPU9250Setting& setting, WireType& w = Wire);
void verbose(const bool b);
void ahrs(const bool b);
void useRawPitchYawRollDirection(const bool b);
void calibrateAccelGyro();
void calibrateMag();
bool isConnected();
bool isConnectedMPU9250();
bool isConnectedAK8963();
bool available();
bool update();
float getRoll() const;
float getPitch() const;
float getYaw() const;
float getQuaternion(uint8_t i) const;
float getQuaternionX() const;
float getQuaternionY() const;
float getQuaternionZ() const;
float getQuaternionW() const;
float getAcc(const uint8_t i) const;
float getGyro(const uint8_t i) const;
float getMag(const uint8_t i) const;
float getLinearAcc(const uint8_t i) const;
float getAccX() const;
float getAccY() const;
float getAccZ() const;
float getGyroX() const;
float getGyroY() const;
float getGyroZ() const;
float getMagX() const;
float getMagY() const;
float getMagZ() const;
float getLinearAccX() const;
float getLinearAccY() const;
float getLinearAccZ() const;
float getAccBias(const uint8_t i) const;
float getGyroBias(const uint8_t i) const;
float getMagBias(const uint8_t i) const;
float getMagScale(const uint8_t i) const;
float getAccBiasX() const;
float getAccBiasY() const;
float getAccBiasZ() const;
float getGyroBiasX() const;
float getGyroBiasY() const;
float getGyroBiasZ() const;
float getMagBiasX() const;
float getMagBiasY() const;
float getMagBiasZ() const;
float getMagScaleX() const;
float getMagScaleY() const;
float getMagScaleZ() const;
float getTemperature() const;
void setAccBias(const float x, const float y, const float z);
void setGyroBias(const float x, const float y, const float z);
void setMagBias(const float x, const float y, const float z);
void setMagScale(const float x, const float y, const float z);
void setMagneticDeclination(const float d);
bool selftest();
void print() const;
void printRawData() const;
void printAcc() const;
void printGyro() const;
void printMag() const;
void printQuaternion() const;
void printRollPitchYaw() const;
void printCalibration() const;
MIT