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MPU9250_asukiaaa Build Status

A library to read value of 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.

Usage

You can see all function on example project.

Accelerometer

#include <MPU9250_asukiaaa.h>
MPU9250 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

#include <MPU9250_asukiaaa.h>
MPU9250 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

#include <MPU9250_asukiaaa.h>
MPU9250 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.

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.

With customizable Wire

For ESP8266, ESP32 and so on.

void setup() {
  Wire.begin(26, 25); //sda, scl
  mySensor.setWire(&Wire);
}

License

MIT

References