MPU9250 Accelerometer, Gyroscope and Magnetometer, Temperature Raspbery Pi C library for communicating with the MPU-9250 and MPU-9255 nine-axis Inertial Measurement Units (IMU).
The InvenSense MPU-9250 is a System in Package (SiP) that combines two chips: the MPU-6500 three-axis gyroscope and three-axis accelerometer; and the AK8963 three-axis magnetometer. The MPU-9250 supports I2C, up to 400 kHz, and SPI communication, up to 1 MHz for register setup and 20 MHz for data reading. The following selectable full scale sensor ranges are available:
| Gyroscope Full Scale Range | Accelerometer Full Scale Range | Magnetometer Full Scale Range |
|---|---|---|
| +/- 250 (deg/s) | +/- 2 (g) | +/- 4800 (uT) |
| +/- 500 (deg/s) | +/- 4 (g) | |
| +/- 1000 (deg/s) | +/- 8 (g) | |
| +/- 2000 (deg/s) | +/- 16 (g) |
The MPU-9250 samples the gyroscopes, accelerometers, and magnetometers with 16 bit analog to digital converters. It also features programmable digital filters, a precision clock, an embedded temperature sensor, programmable interrupts (including wake on motion).
This library supports only I2C bus for commmunication with the MPU-9250.
Simply clone or download this library into your project folder.
The MPU-9250 pins should be connected as:
- VDD: this should be a 2.4V to 3.6V power source.
- GND: ground.
- VDDI: digital I/O supply voltage. This should be between 1.71V and VDD.
- FSYNC: not used, should be grounded.
- INT: (optional) used for the interrupt output setup in enableDataReadyInterrupt and enableWakeOnMotion. Connect to interruptable pin on microcontroller.
- SDA / SDI: connect to SDA.
- SCL / SCLK: connect to SCL.
- AD0 / SDO: ground to select I2C address 0x68. Pull high to VDD to select I2C address 0x69.
- nCS: no connect.
- AUXDA: not used.
- AUXCL: not used.
4.7 kOhm resistors should be used as pullups on SDA and SCL, these resistors should pullup with a 3.3V source.