Accelerometer Gyroscope Compass MPU9250/CJMCU-116/CJMCU-20948 (I2C)

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File:TArduinoMPU9250.png

Summary

The Accelerometer Gyroscope Compass MPU9250 component provides 9-axis motion tracking with accelerometer, gyroscope, and magnetometer capabilities. It communicates using the I2C interface and outputs motion and orientation data from all three sensing elements.

Description

The MPU9250 is a 9-axis MotionTracking device that combines a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer in a single package. It features programmable digital filters, configurable full-scale ranges, and comprehensive interrupt generation capabilities. The sensor provides high-fidelity motion and orientation data with integrated temperature compensation, making it suitable for applications such as drone stabilization, augmented reality, inertial navigation, and advanced motion control systems.

Diagram:

Properties

  • Accelerometer – Accelerometer configuration.
    • Filter – Filter settings (Default: af_AB_1130Hz_AF_4KHz).
    • Full Scale Range – Acceleration measurement range (Default: aF2g).
    • X – X-axis settings.
      • Enabled – Enables X-axis (Default: True).
      • Self Test – Self-test functionality (Default: False).
    • Y – Y-axis settings.
      • Enabled – Enables Y-axis (Default: True).
      • Self Test – Self-test functionality (Default: False).
    • Z – Z-axis settings.
      • Enabled – Enables Z-axis (Default: True).
      • Self Test – Self-test functionality (Default: False).
  • Address – I2C device address (Default: 0x68).
  • Clock Source – Clock source configuration (Default: mcsAutoSelect).
  • Compass – Magnetometer configuration.
    • 16 bit resolution – High resolution mode (Default: True).
    • Direct Access – Direct register access (Default: True).
    • Enabled – Enables magnetometer (Default: True).
    • Mode – Operating mode (Default: on100Hz).
    • Self Test – Self-test functionality (Default: False).
  • Frame Synchronization – Frame sync settings.
    • Enable Interrupt – Enables frame sync interrupt (Default: False).
    • Interrupt On Low Level – Low-level interrupt triggering (Default: False).
    • Location – Interrupt location setting (Default: fsIDisabled).
  • Gyroscope – Gyroscope configuration.
    • Full Scale Range – Angular rate measurement range (Default: gr250dps).
    • Standby – Standby mode setting (Default: False).
    • Units – Measurement units (Default: aulDegree).
    • X – X-axis settings.
      • Enabled – Enables X-axis (Default: True).
      • Self Test – Self-test functionality (Default: False).
    • Y – Y-axis settings.
      • Enabled – Enables Y-axis (Default: True).
      • Self Test – Self-test functionality (Default: False).
    • Z – Z-axis settings.
      • Enabled – Enables Z-axis (Default: True).
      • Self Test – Self-test functionality (Default: False).
    • Gyroscope Thermometer Filter – (default gtf_GB_250Hz_GF_8KHz_TB_4000Hz)
  • Interrupt – Interrupt configuration.
    • Inverted – Interrupt polarity (Default: False).
    • Latch – Latching mode (Default: True).
    • On Frame Sync – Frame sync interrupt (Default: False).
    • On Motion – Motion detection interrupt (Default: False).
    • On Raw Ready – Data ready interrupt (Default: False).
    • Open Drain – Open-drain output mode (Default: False).
  • Low Power Mode – Power management.
    • Enabled – Enables low power mode (Default: False).
    • Sample Frequency – Sampling frequency in low power mode (Default: 0.24).
  • Motion Detect – Motion detection settings.
    • Compare With Previous Sample – Sample comparison mode (Default: False).
    • Enabled – Enables motion detection (Default: True).
    • Threshold – Detection threshold (Default: True).
  • Name – Component name (Default: AccelerometerGyroscopeCompass).
  • Sample Rate Divider – Sample rate divider value (Default: 1).
  • Thermometer – Temperature sensor configuration.
    • Enabled – Enables temperature sensor (Default: True).
    • In Fahrenheit – Fahrenheit output (Default: False).

Pins

Input Pins

  • Compass > Clock (clock) – Clock input for the magnetometer.
  • Reset (clock) – Reset input signal.
  • Clock (clock) – System clock input.

Output Pins

Accelerometer

  • X(G) (analog) – X-axis acceleration in g-forces.
  • Y(G) (analog) – Y-axis acceleration in g-forces.
  • Z(G) (analog) – Z-axis acceleration in g-forces.

Gyroscope

  • X (analog) – X-axis angular rate.
  • Y (analog) – Y-axis angular rate.
  • Z (analog) – Z-axis angular rate.

Thermometer

  • Out (analog) – Temperature measurement output.

Compass

  • x (analog) – X-axis magnetic field.
  • y (analog) – Y-axis magnetic field.
  • z (analog) – Z-axis magnetic field.
  • Overflow (clock) – Magnetometer overflow interrupt output.

Other Outputs

  • Frame Synchronization (clock) – Frame sync output signal.
  • Motion Detect (digital) – Motion detection signal.
  • Out (i2c) – I²C communication interface.

Categories

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