MPU9250 (MPU6500 + AK8963) 用于 Raspbery PI 的 Python 中的 I2C 驱动程序

<div align="center"> <a href="https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect"> <img src="https://gloimg.gbtcdn.com/soa/gb/2015/201509/goods_img_big-v1/1442961797146-P-3106869.jpg" alt="MPU-9250" height="150" align="center" /> </a> <br /> 🙌 Use [donations](#Sponsors-and-Donations) to help support your projects! 🙌 </div> <br /> [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect) [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect) [](LICENSE.txt) [](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=QYV4NEUSVWZCY&source=url)    [](https://doi.org/10.5281/zenodo.3960441) [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/issues) [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/network/members) [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/stargazers) [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/watchers) [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/graphs/contributors/) [](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect) [](https://pypi.org/project/mpu9250_jmdev) # MPU-9250 (MPU-6500 + AK8963) I2C Driver in Python **MPU-9250** is a multi-chip module (MCM) consisting of two dies integrated into a single QFN package. One die the **MPU-6500** houses the 3-Axis gyroscope, the 3-Axis accelerometer and temperature sensor. The other die houses the **AK8963** 3-Axis magnetometer. Hence, the MPU-9250 is a 9-axis MotionTracking device that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer and a Digital Motion Processor™ (DMP). The hardware documentation for MPU-9250 can be found at [Product Specification](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/blob/master/doc/MPU-9250%20Product%20Specification%20Revision%201.1.pdf) and [Register Map and Descriptions](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/blob/master/doc/MPU-9250%20Register%20Map%20and%20Descriptions%20Revision%201.6.pdf). ## Table of Contents - [Instalation](#Instalation) - [How To Use](#How-To-Use) - [Getting Data](#Getting-Data) - [Calibrating Sensors](#Calibrating-Sensors) - [Reset Registers](#Reset-Registers) - [Final Notes](#Final-Notes) - [Sponsors and Donations](#Sponsors-and-Donations) - [What We're Working on Now](#What-We're-Working-on-Now) - [How To Cite](#How-To-Cite) - [License](#License) ## Instalation To install via pip use: ```bash pip install mpu9250-jmdev ``` To use the package for development purposes use: ```bash git clone https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect.git MPU9250 cd MPU9250 pip install -e . pip install -r requirements.txt ``` ### Known Issues > :information_source: Notice that this package requires Python 3.6 or higher. > :warning: If you have both Python 2 and 3 installed on your machine, use ```pip3``` to install and ```python3``` to run instead. > :warning: If you run your python source-code with ```sudo```, remember to use ```sudo``` with ```pip install``` commands as well. > :warning: If you get zero values and the message **Using Fake SMBus**, the **smbus2** requirement has not been installed correctly. Try installing manually with the command ```pip install -r requirements.txt``` or ```python -mpip install smbus2```. > :exclamation: Any other problem or questions, **open an issue in this repository [clicking here](https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect/issues), do not send me an e-mail!** ## How To Use With I2C Bus, you can use the MPU-9250 in two ways: simple mode or advanced mode. The example source-codes are in **examples** folder. ### Simple Mode - Master Only In this mode, the MPU-9250 connects directly to Raspberry GPIOs. There are two physical addresses available for the MPU-9250, being 0x68 and 0x69. Therefore, on each I2C Bus you can have up to two MPU-9250 connected. The connection between GPIOs and MPU-9250 is as follows: | MPU9250 | Raspberry | Note | |---|---|---| | VDD | 3.3V | On some models of the MPU-9250 5V can be used. | | AD0 | 3.3V | If used, the MPU-9250's address is changed to 0x69. Otherwise, the address is 0x68. | | GND | GND | | | SDA | SDA | | | SCL | SCL | | Below simple code to test the execution with never ending loop: ```python import time from mpu9250_jmdev.registers import * from mpu9250_jmdev.mpu_9250 import MPU9250 mpu = MPU9250( address_ak=AK8963_ADDRESS, address_mpu_master=MPU9050_ADDRESS_68, # In 0x68 Address address_mpu_slave=None, bus=1, gfs=GFS_1000, afs=AFS_8G, mfs=AK8963_BIT_16, mode=AK8963_MODE_C100HZ) mpu.configure() # Apply the settings to the registers. while True: print("|.....MPU9250 in 0x68 Address.....|") print("Accelerometer", mpu.readAccelerometerMaster()) print("Gyroscope", mpu.readGyroscopeMaster()) print("Magnetometer", mpu.readMagnetometerMaster()) print("Temperature", mpu.readTemperatureMaster()) print("\n") time.sleep(1) ``` ### Advanced Mode - Master-Slave If you want to have more than two MPU-9250 on one I2C Bus, you must use Master-Slave mode. In this case, first configure the MPU-9250 according to the previous section, they will be used as Master. To configure the MPU-9250 Slaves, connect as follows: | MPU9250 Slave | MPU9250 Master | Raspberry PI | Note | |---|---|---|---| | VDD | | 3.3V | On some models of the MPU-9250 5V can be used. | | AD0 | | 3.3V | If used, the MPU-9250's address is changed to 0x69. Otherwise, the address is 0x68. | | GND | | GND | | | SDA | EDA | | | SCL | ECL | | This way you will have an MPU-9250 Master connecting SDA and SLC directly to the GPIO in Raspberry PI, and an MPU-9250 Slave connecting SDA and SLC to the EDA and ELC in MPU-9250 Master. Below simple code to test the execution with never ending loop: ```python import time from mpu9250_jmdev.registers import * from mpu9250_jmdev.mpu_9250 i