MPU9250連接

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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/
MPU9250-0.4.5.zip (35.7 KB, 下載次數: 2138)

2021-7-9 23:50 上傳

點擊文件名下載附件
lib

直接使用範例檔案
得到的serial output

1. #include "MPU9250.h"
   
2. 
   
3. MPU9250 mpu;
   
4. 
   
5. void setup() {
   
6.     Serial.begin(115200);
   
7.     Wire.begin();
   
8.     delay(2000);
   
9. 
   
10.     if (!mpu.setup(0x68)) {  // change to your own address
    
11.         while (1) {
    
12.             Serial.println("MPU connection failed. Please check your connection with `connection_check` example.");
    
13.             delay(5000);
    
14.         }
    
15.     }
    
16. }
    
17. 
    
18. void loop() {
    
19.     if (mpu.update()) {
    
20.         static uint32_t prev_ms = millis();
    
21.         if (millis() > prev_ms + 25) {
    
22.             print_roll_pitch_yaw();
    
23.             prev_ms = millis();
    
24.         }
    
25.     }
    
26. }
    
27. 
    
28. void print_roll_pitch_yaw() {
    
29.     Serial.print("Yaw, Pitch, Roll: ");
    
30.     Serial.print(mpu.getYaw(), 2);
    
31.     Serial.print(", ");
    
32.     Serial.print(mpu.getPitch(), 2);
    
33.     Serial.print(", ");
    
34.     Serial.println(mpu.getRoll(), 2);
    
35. }

複製代碼

另一個calibration.ino

1. #include "MPU9250.h"
   
2. 
   
3. MPU9250 mpu;
   
4. 
   
5. void setup() {
   
6.     Serial.begin(115200);
   
7.     Wire.begin();
   
8.     delay(2000);
   
9. 
   
10.     if (!mpu.setup(0x68)) {  // change to your own address
    
11.         while (1) {
    
12.             Serial.println("MPU connection failed. Please check your connection with `connection_check` example.");
    
13.             delay(5000);
    
14.         }
    
15.     }
    
16. 
    
17.     // calibrate anytime you want to
    
18.     Serial.println("Accel Gyro calibration will start in 5sec.");
    
19.     Serial.println("Please leave the device still on the flat plane.");
    
20.     mpu.verbose(true);
    
21.     delay(5000);
    
22.     mpu.calibrateAccelGyro();
    
23. 
    
24.     Serial.println("Mag calibration will start in 5sec.");
    
25.     Serial.println("Please Wave device in a figure eight until done.");
    
26.     delay(5000);
    
27.     mpu.calibrateMag();
    
28. 
    
29.     print_calibration();
    
30.     mpu.verbose(false);
    
31. }
    
32. 
    
33. void loop() {
    
34. }
    
35. 
    
36. void print_calibration() {
    
37.     Serial.println("< calibration parameters >");
    
38.     Serial.println("accel bias [g]: ");
    
39.     Serial.print(mpu.getAccBiasX() * 1000.f / (float)MPU9250::CALIB_ACCEL_SENSITIVITY);
    
40.     Serial.print(", ");
    
41.     Serial.print(mpu.getAccBiasY() * 1000.f / (float)MPU9250::CALIB_ACCEL_SENSITIVITY);
    
42.     Serial.print(", ");
    
43.     Serial.print(mpu.getAccBiasZ() * 1000.f / (float)MPU9250::CALIB_ACCEL_SENSITIVITY);
    
44.     Serial.println();
    
45.     Serial.println("gyro bias [deg/s]: ");
    
46.     Serial.print(mpu.getGyroBiasX() / (float)MPU9250::CALIB_GYRO_SENSITIVITY);
    
47.     Serial.print(", ");
    
48.     Serial.print(mpu.getGyroBiasY() / (float)MPU9250::CALIB_GYRO_SENSITIVITY);
    
49.     Serial.print(", ");
    
50.     Serial.print(mpu.getGyroBiasZ() / (float)MPU9250::CALIB_GYRO_SENSITIVITY);
    
51.     Serial.println();
    
52.     Serial.println("mag bias [mG]: ");
    
53.     Serial.print(mpu.getMagBiasX());
    
54.     Serial.print(", ");
    
55.     Serial.print(mpu.getMagBiasY());
    
56.     Serial.print(", ");
    
57.     Serial.print(mpu.getMagBiasZ());
    
58.     Serial.println();
    
59.     Serial.println("mag scale []: ");
    
60.     Serial.print(mpu.getMagScaleX());
    
61.     Serial.print(", ");
    
62.     Serial.print(mpu.getMagScaleY());
    
63.     Serial.print(", ");
    
64.     Serial.print(mpu.getMagScaleZ());
    
65.     Serial.println();
    
66. }

複製代碼

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 [g]:
-122.92, 14.95, 38.81
gyro bias [deg/s]:
-1.18, 0.57, -0.65
mag bias [mG]:
186.96, 267.96, 5.15
mag scale []:
0.86, 0.60, 6.29