Ported hideakitai's Arduino MPU9250 library to run on the Raspberry Pi.
This library has been tested on a Raspberry Pi 4B with 8 GB RAM, running Ubuntu Server 20.04.
Connect the MPU9250 to the Pi's I2C bus. GPIO2 corresponds to SDA and GPIO3 corresponds to SCL.
| RPi | MPU |
|---|---|
| 5V | 5V |
| GND | GND |
| GPIO2 | SDA |
| GPIO3 | SCL |
Verify the connection by using the i2cdetect tool.
sudo apt install i2c-tools
i2cdetect -y 1
It should show the following output, indicating that the MPU9250 at address 0x68 and the AK8963 magnetometer at 0x0C.
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- 0c -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
Follow the commands to install the library and run the example:
sudo apt install libi2c-dev
git clone https://github.com/sdfcl-iitk/MPU9250-RPi
cd MPU9250-Rpi
mkdir build
cd build
cmake ..
make
./simple_rpy
The simple example prints the roll pitch yaw from the IMU:
MPU9250 WHO AM I = 0x71
AK8963 WHO AM I = 0x48
Mag Factory Calibration Values:
X-Axis sensitivity offset value 1.207
Y-Axis sensitivity offset value 1.219
Z-Axis sensitivity offset value 1.164
Mag Factory Calibration Values:
X-Axis sensitivity offset value 1.207
Y-Axis sensitivity offset value 1.219
Z-Axis sensitivity offset value 1.164
Mag Calibration: Wave device in a figure eight until done!
mag x min/max: 0 377
mag y min/max: -106 0
mag z min/max: 0 346
Mag Calibration done!
AK8963 mag biases (mG) 340.244, -96.851, 301.951
AK8963 mag scale (mG) 0.722, 2.562, 0.816
Mag Factory Calibration Values:
X-Axis sensitivity offset value 1.207
Y-Axis sensitivity offset value 1.219
Z-Axis sensitivity offset value 1.164
0.000 -0.000 -7.510
0.000 -0.000 -7.510
0.000 -0.000 -7.510
0.000 -0.000 -7.510
0.000 -0.000 -7.510
-0.193 0.349 -7.296
-0.193 0.349 -7.296
-0.193 0.349 -7.296
-0.309 0.552 -7.168
-0.309 0.552 -7.168
-0.309 0.552 -7.168