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

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

• File:I2C.png – Components that use I2C communication protocol.
• File:Sensors.png – Motion sensing components.
• File:Accelerometer.png – Acceleration measurement components.
• File:Gyroscope.png – Angular rate measurement components.
• File:Magnetometer.png – Magnetic field sensing components.