9軸加速度センサー MPU9250をArduinoで制御する その1(I2C)

MPU9250

Datasheet

MPU9250 Datasheet
MPU9250 Registermap

計測可能な値

MPU-9250では、MPU-9250とAK8963のCombo Memsである。MPU-9250とAK8963は別々のSlave Addressが割り振られているため、それぞれにアクセスする。

種類	概要
Gyroscope
Accelerometer
Magnetometer

Slave address

センサー	Slave address	用途
MPU9250	0x68	3軸加速度、ジャイロ
AK8963	0x0C	コンパス

(MPU9250)Register map(Selftest)

Address	Name	Type	値
0x00	SELF_TEST_X_GYRO	R/W	xg_st_data [7:0]
0x01	SELF_TEST_Y_GYRO	R/W	yg_st_data [7:0]
0x02	SELF_TEST_Z_GYRO	R/W	zg_st_data [7:0]
0x0D	SELF_TEST_X_ACCEL	R/W	XA_ST_DATA [7:0]
0x0E	SELF_TEST_Y_ACCEL	R/W	YA_ST_DATA [7:0]
0x0F	SELF_TEST_Z_ACCEL	R/W	ZA_ST_DATA [7:0]
0x13	XG_OFFSET_H	R/W	X_OFFS_USR [15:8]
0x14	XG_OFFSET_L	R/W	X_OFFS_USR [7:0]
0x21	YG_OFFSET_H	R/W	Y_OFFS_USR [15:8]
0x22	YG_OFFSET_L	R/W	Y_OFFS_USR [7:0]
0x17	ZG_OFFSET_H	R/W	Z_OFFS_USR [15:8]
0x18	ZG_OFFSET_L	R/W	Z_OFFS_USR [7:0]
0x19	SMPLRT_DIV	R/W	SMPLRT_DIV[7:0]

(MPU9250)Register map(Configuration)

Address	Name	Type	値
0x1A	CONFIG	R/W	Config
0x1B	GYRO_CONFIG	R/W	GyroscopeのConfig
0x1C	ACCEL_CONFIG	R/W	AccelerometerのConfig
0x1D	ACCEL_CONFIG2	R/W	AccelerometerのConfig
0x1E	LP_ACCEL_ODR	R/W	Lposc_clksel
0x1F	WOM_THR	R/W	WOM_Threshold [7:0]

(MPU9250)Register map(Accelerometer)

Address	Name	Type	値
0x3B	ACCEL_XOUT_H	R	ACCEL_XOUT_H[15:8]
0x3C	ACCEL_XOUT_L	R	ACCEL_XOUT_L[7:0]
0x3D	ACCEL_YOUT_H	R	ACCEL_YOUT_H[15:8]
0x3E	ACCEL_YOUT_L	R	ACCEL_YOUT_L[7:0]
0x3F	ACCEL_ZOUT_H	R	ACCEL_ZOUT_H[15:8]
0x40	ACCEL_ZOUT_L	R	ACCEL_ZOUT_L[7:0]

(MPU9250)Register map(Temperature)

Address	Name	Type	値
0x41	TEMP_OUT_H	R	TEMP_OUT_H[15:8]
0x42	TEMP_OUT_L	R	TEMP_OUT_L[7:0]

(MPU9250)Register map(Gyroscope)

Address	Name	Type	値
0x43	GYRO_XOUT_H	R	GYRO_XOUT_H[15:8]
0x44	GYRO_XOUT_L	R	GYRO_XOUT_L[7:0]
0x45	GYRO_YOUT_H	R	GYRO_YOUT_H[15:8]
0x46	GYRO_YOUT_L	R	GYRO_YOUT_L[7:0]
0x47	GYRO_ZOUT_H	R	GYRO_ZOUT_H[15:8]
0x48	GYRO_ZOUT_L	R	GYRO_ZOUT_L[7:0]

(MPU9250)Register map(Etc)

Address	Name	Type	値
0x75	WHO_AM_I	R	WHOAMI[7:0]
0x6B	PWR_MGMT_1	R	Power Management

(AK8963)Register map

Address	Name	Type	値
0x00	WIA	R	Device ID
0x01	INFO	R	Information
0x02	ST1	R	Status 1
0x03	HXL	R	Measurement X-axis data
0x04	HXH	R	Measurement X-axis data
0x05	HYL	R	Measurement Y-axis data
0x06	HYH	R	Measurement Y-axis data
0x07	HZL	R	Measurement Z-axis data
0x08	HZH	R	Measurement Z-axis data
0x90	ST2	R	Status 2
0x0A	CNTL	RW	Control
0x0C	ASTC	RW	Self-test
0x10	ASAX	R	X-axis sensitivity adjustment value
0x11	ASAY	R	Y-axis sensitivity adjustment value
0x12	ASAZ	R	Z-axis sensitivity adjustment value

(MPU9250)Who_am_i

WHO_AM_I	0x75

(AK8963)Who_am_i

Device ID	0x00

(MPU9250)PowerOn

PowerManegment1	0x6B

Bit7	Bit6	Bit5	Bit4	Bit3	Bit2	Bit1	Bit0
H_RESET	SLEEP	CYCLE	GYRO_STANDBY	PD_PTAT	CLKSEL2	CLKSEL1	CLKSEL0

(MPU9250)H_RESET

Bit	意味
0
1	RESET

(MPU9250)SLEEP

Bit	意味
0
1	Sleep modeへ

(MPU9250)CYCLE

Bit	意味
0
1	LP_ACCEL_ODR registerで定義された周期でSleepとデータ取得を繰り返す

(MPU9250)GYRO_STANDBY

Bit	意味
0
1	CyroとPLL回路が有効

(MPU9250)PD_PTAT

Bit	意味
0
1	Power down

(MPU9250)CLKSEL

Bit	意味
000	Internal 20MHz oscillator
001	Auto selects the best available clock source
010	Auto selects the best available clock source
011	Auto selects the best available clock source
100	Auto selects the best available clock source
101	Auto selects the best available clock source
110	Internal 20MHz oscillator
111	Stops the clock and keeps timing generator in reset

PowerManegment2	0x6C

arduino

#define MPU9250_POWER_MNG1_REG 0x6B
#define MPU9250_POWER_MNG1_REG 0x6C

void powerOn()
{
  // 実行しなくてもDefaultでOnになっている
  writeI2c(MPU9250_POWER_MNG1_REG, 0x00);
  writeI2c(MPU9250_POWER_MNG2_REG, 0x00);
}

(MPU9250)Configuration

CONFIGURATION	0x1A

Bit7	Bit6	Bit5	Bit4	Bit3	Bit2	Bit1	Bit0
RESV	FIFO_MODE	EXT_SYNC_SET2	EXT_SYNC_SET1	EXT_SYNC_SET0	DLPF_CFG2	DLPF_CFG1	DLPF_CFG0

(MPU9250)EXT_SYNC_SET

Bit	意味
000	function disabled
001	TEMP_OUT_L[0]
010	GYRO_XOUT_L[0]
011	GYRO_YOUT_L[0]
100	GYRO_ZOUT_L[0]
101	ACCEL_XOUT_L[0]
110	ACCEL_YOUT_L[0]
111	ACCEL_ZOUT_L[0]

(MPU9250)DLPF_CFG

FCHOICE1	FCHOICE2	DLPF_CFG	Gyroscope Bandwidth(Hz)	Gyroscope Delay(ms)	Gyroscope Fs(kHz)	Temperature Bandwidth(Hz)	Temperature Delay(ms)
x	0	x	8800	0.064	32	4000	0.04
0	1	x	3600	0.11	32	4000	0.04
1	1	0	250	0.97	8	4000	0.04
1	1	1	184	2.9	1	188	1.9
1	1	2	92	3.9	1	98	2.8
1	1	3	41	5.9	1	42	4.8
1	1	4	20	9.9	1	20	8.3
1	1	5	10	17.85	1	10	13.4
1	1	6	5	33.48	1	5	18.6
1	1	7	3600	0.17	8	4000	0.04

(MPU9250)Gyroscope Configuration

GYRO_CONFIG	0x1B

Bit7	Bit6	Bit5	Bit4	Bit3	Bit2	Bit1	Bit0
XGYRO_Cten	YGYRO_Cten	ZGYRO_Cten	GYRO_FS_SEL1	GYRO_FS_SEL0	-	Fchoice_b1	Fchoice_b2

(MPU9250)GYRO_FS_SEL

Bit	意味
00	+250dps
01	+500 dps
10	+1000 dps
11	+2000 dps

(MPU9250)Accelerometer Configuration

ACCL_CONFIG	0x1C

Bit7	Bit6	Bit5	Bit4	Bit3	Bit2	Bit1	Bit0
ax_st_en	ay_st_en	az_st_en	ACCEL_FS_SEL1	ACCEL_FS_SEL0	RESV	RESV	RESV

(MPU9250)ACCEL_FS_SEL

Bit	意味
00	±2g
01	±4g
10	±8g
11	±16g

ACCL_CONFIG2	0x1D

Bit7	Bit6	Bit5	Bit4	Bit3	Bit2	Bit1	Bit0
RESV	RESV	RESV	RESV	accel_fchoice_b	A_DLPFCFG2	A_DLPFCFG1	A_DLPFCFG0

ACCEL_FCHOICE	A_DLPF_CFG	Output Bandwidth (Hz)	Output Delay (ms)	Output Noise Density (ug/rtHz)	Rate (kHz)
0	X	1.13K	0.75	250	4
1	0	460	1.94	250	1
1	1	184	5.80	250	1
1	2	92	7.80	250	1
1	3	41	11.80	250	1
1	4	20	19.80	250	1
1	5	10	35.70	250	1
1	6	5	66.96	250	1
1	7	460	1.94	250	1

(AK8963)Control

CTRL1	0x0A

Bit7	Bit6	Bit5	Bit4	Bit3	Bit2	Bit1	Bit0
0	0	0	BIT	MODE3	MODE2	MODE1	MODE0

(AK8963)MODE

Bit	意味
0000	Power-down mode
0001	Single measurement mode
0010	Continuous measurement mode 1
0110	Continuous measurement mode 2
0100	External trigger measurement mode
1000	Self-test mode
1111	Fuse ROM access mode

(AK8963)BIT

Bit	意味
0	14-bit output
1	16-bit output

(MPU9250)Read Accelerometer

Address	Name	Type	値
0x3B	ACCEL_XOUT_H	R	ACCEL_XOUT_H[15:8]
0x3C	ACCEL_XOUT_L	R	ACCEL_XOUT_L[7:0]
0x3D	ACCEL_YOUT_H	R	ACCEL_YOUT_H[15:8]
0x3E	ACCEL_YOUT_L	R	ACCEL_YOUT_L[7:0]
0x3F	ACCEL_ZOUT_H	R	ACCEL_ZOUT_H[15:8]
0x40	ACCEL_ZOUT_L	R	ACCEL_ZOUT_L[7:0]

(MPU9250)Read Temperature

Address	Name	Type	値
0x41	TEMP_OUT_H	R	TEMP_OUT_H[15:8]
0x42	TEMP_OUT_L	R	TEMP_OUT_L[7:0]

(MPU9250)Read Gyroscope

Address	Name	Type	値
0x43	GYRO_XOUT_H	R	GYRO_XOUT_H[15:8]
0x44	GYRO_XOUT_L	R	GYRO_XOUT_L[7:0]
0x45	GYRO_YOUT_H	R	GYRO_YOUT_H[15:8]
0x46	GYRO_YOUT_L	R	GYRO_YOUT_L[7:0]
0x47	GYRO_ZOUT_H	R	GYRO_ZOUT_H[15:8]
0x48	GYRO_ZOUT_L	R	GYRO_ZOUT_L[7:0]

(AK8963)