Kai at 2016-05-15T16:50:17

2016-05-15T16:50:17Z

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[[File:Sensor_MPU-9250_HaoYu.jpg]]
 
 
The MPU-9250 board an internal measurement unit (IMU) with a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis magnetometer. The MPU-9250 is actually the name of the [http://www.invensense.com/products/motion-tracking/9-axis/mpu-9250/ chip made by InvenSense] which includes the gyroscope and accelerometer part. The magnetometer (or electronic compass) is housed inside a separate chip on the board. There is a number of such IMU boards where gyro and accelerometer measurements are provided by one chip while magnetometer measurements are provided by another. In the case of the MPU-9250 the magnetometer is [http://www.akm.com/akm/en/product/datasheet1/?partno=AK8963 the AK8963 chip by Asahi Kasei Microdevices].
 
 
* [https://github.com/kriswiner/MPU-6050/wiki/Affordable-9-DoF-Sensor-Fusion An introduction to this family of sensors] by Kris Winer
* [https://github.com/kriswiner/MPU-9250 Detailed code example for Arduino boards] by Kris Winer
* [http://www.lucidarme.me/?p=5057 Simple code example for Arduino boards] by Philippe Lucidarme
* [http://www.haoyuelectronics.com/Attachment/GY-9250/ Documentation provided by Hao Yu Electronics], a manufacturer of inexpensive MPU-9250 units.
* [http://www.akm.com/akm/en/file/datasheet/AK8963.pdf Magnetometer (AK8963) datasheet]
 
* MPU-9250 supports the I2C (at up to '''400 kHz''') and SPI (up to 1MHz) data interfaces.
* It is recommended to use 10 kΩ resistors as pull-up resistors for the SDA and SCL pins.
* The I2C slave address of the MPU-9250 is '''b110100X''' (i.e., 0x68 or 0x69). The LSB bit is determined by the logic level on pin AD0. This allows MPU-9250s to be configured for two different I2 addresses. You can therefore connect two of them to the same I2C bus.
* The MPU-9250 can run a self test for the gyro and accelerometer. You can then check the results of the self test that you ran against factory test results stored inside the chip. There is a problem if the results differ considerably.
* You can set various scale ranges and sensitivity settings for the individual sensors.

MPU-9250 - Revision history

Kai at 2016-05-15T16:50:17