MPU9250連接
上次試過MPU6050 gy-521搭配Arduino nano使用這是測試9250
與Arduino nano接線
VCC接27腳5V
GND接29腳GNN
SCL接A5
SDA接A4
如圖
使用Library涵式庫在此
https://www.arduino.cc/reference/en/libraries/mpu9250/
直接使用範例檔案
得到的serial output
#include "MPU9250.h"
MPU9250 mpu;
void setup() {
Serial.begin(115200);
Wire.begin();
delay(2000);
if (!mpu.setup(0x68)) {// change to your own address
while (1) {
Serial.println("MPU connection failed. Please check your connection with `connection_check` example.");
delay(5000);
}
}
}
void loop() {
if (mpu.update()) {
static uint32_t prev_ms = millis();
if (millis() > prev_ms + 25) {
print_roll_pitch_yaw();
prev_ms = millis();
}
}
}
void print_roll_pitch_yaw() {
Serial.print("Yaw, Pitch, Roll: ");
Serial.print(mpu.getYaw(), 2);
Serial.print(", ");
Serial.print(mpu.getPitch(), 2);
Serial.print(", ");
Serial.println(mpu.getRoll(), 2);
}
另一個calibration.ino
#include "MPU9250.h"
MPU9250 mpu;
void setup() {
Serial.begin(115200);
Wire.begin();
delay(2000);
if (!mpu.setup(0x68)) {// change to your own address
while (1) {
Serial.println("MPU connection failed. Please check your connection with `connection_check` example.");
delay(5000);
}
}
// calibrate anytime you want to
Serial.println("Accel Gyro calibration will start in 5sec.");
Serial.println("Please leave the device still on the flat plane.");
mpu.verbose(true);
delay(5000);
mpu.calibrateAccelGyro();
Serial.println("Mag calibration will start in 5sec.");
Serial.println("Please Wave device in a figure eight until done.");
delay(5000);
mpu.calibrateMag();
print_calibration();
mpu.verbose(false);
}
void loop() {
}
void print_calibration() {
Serial.println("< calibration parameters >");
Serial.println("accel bias : ");
Serial.print(mpu.getAccBiasX() * 1000.f / (float)MPU9250::CALIB_ACCEL_SENSITIVITY);
Serial.print(", ");
Serial.print(mpu.getAccBiasY() * 1000.f / (float)MPU9250::CALIB_ACCEL_SENSITIVITY);
Serial.print(", ");
Serial.print(mpu.getAccBiasZ() * 1000.f / (float)MPU9250::CALIB_ACCEL_SENSITIVITY);
Serial.println();
Serial.println("gyro bias : ");
Serial.print(mpu.getGyroBiasX() / (float)MPU9250::CALIB_GYRO_SENSITIVITY);
Serial.print(", ");
Serial.print(mpu.getGyroBiasY() / (float)MPU9250::CALIB_GYRO_SENSITIVITY);
Serial.print(", ");
Serial.print(mpu.getGyroBiasZ() / (float)MPU9250::CALIB_GYRO_SENSITIVITY);
Serial.println();
Serial.println("mag bias : ");
Serial.print(mpu.getMagBiasX());
Serial.print(", ");
Serial.print(mpu.getMagBiasY());
Serial.print(", ");
Serial.print(mpu.getMagBiasZ());
Serial.println();
Serial.println("mag scale []: ");
Serial.print(mpu.getMagScaleX());
Serial.print(", ");
Serial.print(mpu.getMagScaleY());
Serial.print(", ");
Serial.print(mpu.getMagScaleZ());
Serial.println();
}
Accel Gyro calibration will start in 5sec.
Please leave the device still on the flat plane.
Mag calibration will start in 5sec.
Please Wave device in a figure eight until done.
Mag Factory Calibration Values:
X-Axis sensitivity offset value 1.19
Y-Axis sensitivity offset value 1.19
Z-Axis sensitivity offset value 1.14
Mag Calibration: Wave device in a figure eight until done!
mag x min/max:
211
0
mag y min/max:
301
0
mag z min/max:
18
-12
Mag Calibration done!
AK8963 mag biases (mG)
186.96, 267.96, 5.15
AK8963 mag scale (mG)
0.86, 0.60, 6.29
Mag Factory Calibration Values:
X-Axis sensitivity offset value 1.19
Y-Axis sensitivity offset value 1.19
Z-Axis sensitivity offset value 1.14
< calibration parameters >
accel bias :
-122.92, 14.95, 38.81
gyro bias :
-1.18, 0.57, -0.65
mag bias :
186.96, 267.96, 5.15
mag scale []:
0.86, 0.60, 6.29
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