166 lines
4.3 KiB
Markdown
166 lines
4.3 KiB
Markdown
# 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.h>
|
||
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.h>
|
||
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.h>
|
||
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 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/)
|