MPU9250_I2C (community library)

Summary

An Implementation of Mpu9250 Library for the Particle Photon

Example Build Testing

Library Read Me

This content is provided by the library maintainer and has not been validated or approved.

MPU9250Library

This is a library of MPU9250 devices (Inertial and Magnetic Array Sensors) for Particle Photon

Supported MPU9250 devices

Usage

Set up the hardware:

• A MPU9250 device with I2C Protocol

Flash the mpu9250 example.

Adapt it to your needs while keeping this general structure:

MPU9250 margSensor();
int16_t dataSensor[10];

void setup() {
margSensor.begin();
}
void loop() {
margSensor.Read9Axis(dataSensor);
// The sensor values is stored in dataSensor[x] as follows:
// dataSensor[0] ~ dataSensor[2] (Acceleration X Axis - Acceleration Y Axis - Acceleration Z Axis)
// dataSensor[3] (Temperature)
// dataSensor[4] ~ dataSensor[6] (AngularRate X Axis - AngularRate Y Axis - AngularRate Z Axis)
// dataSensor[7] ~ dataSensor[9] ( MagneticComponent X Axis - MagneticComponent Y Axis - MagneticComponent Z Axis)
}

Documentation

MPU9250

// IMPORTANT: Create dataSensor array for to store all readings
int16_t dataSensor[10];

begin

margSensor.begin();

Sets up the the operating mode of mpu9250 devices.

getGyroOffsets

int16_t GyroOffsets[3]; //we will save the readings of the offsets in this array
margSensor.getGyroOffsets(GyroOffsets);
Serial.printlnf("GyroOffset X:  %d", GyroOffsets[0]);
Serial.printlnf("GyroOffset Y:  %d", GyroOffsets[1]);
Serial.printlnf("GyroOffset Z:  %d", GyroOffsets[2]);

This function allows us to read the offsets gyroscope Register and store them in the pointer GyroOffsets

getAccelOffsets

int16_t AccelOffsets[3]; //we will save the readings of the offsets in this array
margSensor.getAccelOffsets(AccelOffsets);
Serial.printlnf("AccelOffset X:  %d", AccelOffsets[0]);
Serial.printlnf("AccelOffset Y:  %d", AccelOffsets[1]);
Serial.printlnf("AccelOffset Z:  %d", AccelOffsets[2]);

This function allows us to read the offsets accelerometer Register and store them in the pointer AccelOffsets

setGyroOffsetX

setGyroOffsetY

setGyroOffsetZ

int16_t gxOffset = 543;
int16_t gyOffset = 25;
int16_t gzOffset = -78;

margSensor.setGyroOffsetX(gxOffset);
margSensor.setGyroOffsetY(gyOffset);
margSensor.setGyroOffsetZ(gzOffset);

These functions set up gyroscope offset register.

setAccelOffsetX

setAccelOffsetY

setAccelOffsetZ

int16_t axOffset = 2890;
int16_t ayOffset = -13125;
int16_t azOffset = -768;

margSensor.setAccelOffsetX(axOffset);
margSensor.setAccelOffsetY(ayOffset);
margSensor.setAccelOffsetZ(azOffset);

These functions set up accelerometer offset register.

setGyroScale

/* ============================
Select Gyroscope Scale:
0 = ±250dps =
1 = ±500 dps =
2 = ±1000 dps =
3 = ±2000 dps =
===============================*/
margSensor.setGyroScale(3);// +-2000 dps

This function set up gyroscope scale register.

setAccelScale

/* ============================
Select Accelerometer scale:
0 = ±2g
1 = ±4g
2 = ±8g
3 = ±16g
===============================*/
margSensor.setAccelScale(1);// +-4g

This function set up accelerometer scale register.

Nuances

References

• MPU-9250 Product Specification Revision 1.1(http://www.invensense.com/wp-content/uploads/2015/02/PS-MPU-9250A-01-v1.1.pdf) (Invensense)
• MPU-9250 Register Map and Descriptions Revision 1.6(https://www.invensense.com/wp-content/uploads/2015/02/RM-MPU-9250A-00-v1.6.pdf) (Invensense)
• AK8963 Datasheet(https://www.akm.com/akm/en/file/datasheet/AK8963C.pdf) (Asahi Kasei)

License

Copyright 2018-2022 JDVR, Juan David Velasquez Rosero

Released under the LGPL license

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