MPU9250

Arduino library for MPU9250 Nine-Axis (Gyro + Accelerometer + Compass) MEMS MotionTracking™ Device

Forked from Hideaki Tai's library.

This library is based on the great work by kriswiner, and re-writen for the simple usage.

Usage

Simple Measurement

#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();
    }
}

Calibration

• 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() { }

Other Settings

I2C Address

You must set your own address based on A0, A1, A2 setting as:

mpu.setup(0x70);

Customize MPU9250 Configuration

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.

List of Settings

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

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.

Other I2C library

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);

MPU9255

To use MPU9255 instead of MPU9250, just declare MPU9255.

MPU9255 mpu;

APIs

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 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 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 printLinAccel() const;
void printRawData() const;
void printAcc() const;
void printGyro() const;
void printMag() const;
void printQuaternion() const;
void printRollPitchYaw() const;
void printCalibration() const;

License

MIT

Acknowledgments / Contributor

• Yuta Asai