MPU9250 9-axis Digital Motion Processor

26 May 2020 - 0 Comments

MPU9250数字运动处理器

MPU9250运动处理器引脚

MPU-9250是一种多芯片模块（MCM），其由两种模具组成，集成到单个QFN封装中。一个模具容纳3轴陀螺仪和3轴加速度计。另一个模具容纳了Asahi Kasei Microdevices Corporation的AK8963 3轴磁力计。因此，MPU-9250是9轴运动跟踪装置，其组合3轴陀螺仪，3轴加速度计，3轴磁力计和数字运动处理器。

它的敬业I2C传感器总线，MPU-9250Directly提供完整的9轴运动融合输出。为了需要更快的通信，可以使用传感器和中断寄存器读取spi.as well.

PIN描述MPU9250 9轴MotionTracking数字运动处理器

Pin Number	Pin Name	描述
1	Resv.	预订的。Connect to VDDIO.
7	AUX_CL	I2C主串行时钟，用于连接外部传感器
8	vdd.IO	数字I / O电源电压
9	AD0 /SDO	I2C Slave Address LSB (AD0); SPI serial data output (SDO)
10	reg	Regulator filter capacitor connection
11	fsync.	Frame synchronization digital input. Connect to GND if unused
12	㈡	中断数字输出（图腾杆或开漏）
13	vdd.	Power supply voltage and Digital I/O supply voltage
18	GND	Power supply ground
19	Resv.	预订的。Do not connect
20	Resv.	预订的。连接到GND.
21	AUX_DA	I2C master serial data, for connecting to external sensors
22	NCS.	芯片选择（仅限SPI模式）
23	SCL / SCLK	I2C serial clock (SCL); SPI serial clock (SCLK)
24	SDA / SDI.	I2C序列数据（SDA）;SPI串行数据输入（SDI）
2-6,14-17	NC.	Not internally connected. May be used for PCB trace routing.

The pinout is shown in the below image-

MPU9250 Pin Description

MPU9250 9轴数字运动处理器的功能和规范

1. 3-axis Gyroscope Features

Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with a user-programmable full-scale range of ±250, ±500, ±1000, and ±2000°/secand integrated 16-bit ADCs
Digitally-programmable low-pass filter
Gyroscope operating current: 3.2mA
Sleep mode current: 8μA
Factory calibrated sensitivity scale factor
自我测试

2. 3-axis Accelerometer Features

Digital-output triple-axis accelerometer with a programmable full-scale range of ±2g, ±4g, ±8gand ±16gand integrated 16-bit ADCs
加速度计正常工作电流：450μA
低功耗加速度计模式电流：8.4μA在0.98Hz，19.8μA，31.25Hz
Sleep mode current: 8μA
User-programmable interrupts
用于应用处理器的低功耗操作的唤醒运动中断
自我测试

3. 3轴磁力计功能

3轴硅片整体霍尔效应磁传感器，磁力浓缩器
宽动态测量范围和高分辨率，电流消耗较低。
Output data resolution of 14 bit (0.6μT/LSB)
全尺寸测量范围为±4800μt
Magnetometer normal operating current: 280μA at 8Hz repetition rate
自我测试function with the internal magnetic source to confirm magnetic sensor operation on end products

4.其他特征

用于从外部传感器读取数据的AuxiriaryMaster I2C总线（例如压力传感器）
Digital-output temperature sensor
vdd.supply voltage range of 2.4–3.6V
vdd.IO reference voltage for auxiliary I2C devices
用于便携式设备的最小和最薄的QFNPackage：3x3x1mm
加速度计，陀螺仪和磁力计轴之间的最小横轴灵敏度
512Byte FIFO缓冲区使应用程序处理器能够读取突发中的数据
宽容为10,000克服
400KHz快速模式I2C与所有寄存器通信
1MHz SPI串行接口，用于与所有寄存器进行通信
20MHz SPI serial interface for reading sensor and interrupt registers
MEMS结构在晶片水平处气密密封和粘合

Note: Complete technical details can be found in the MPU9250 Datasheet linked at the bottom of this page.

MPU9250 9-axis Digital Motion Processor - Overview

Invensense.MPU9250 9-axis Digital Motion Processor是3轴陀螺仪，3轴加速度计和3轴磁力计的组合处理器。该IC还设计用于在其辅助I2C端口上与多个非惯性数字传感器（例如压力传感器）接口。

MPU-9250 features three 16-bit analog-to-digital converters (ADCs) for digitizing the gyroscope outputs, three 16-bit ADCs for digitizing the accelerometer outputs, and three 16-bit ADCs for digitizing the magnetometer outputs. For precision tracking of both fast and slow motions, the parts feature a user-programmable gyroscope full-scale range of ±250, ±500, ±1000, and ±2000°/sec (DPS), a user-programmable accelerometer full-scale range of ±2g, ±4g, ±8g, and ±16g, and a magnetometer full-scale range of ±4800μT.

The microcontroller can communicate with this IC using either I2C or SPI serial bus interface. As per the application required, the user can configure the communication interface for 20MHz SPI mode for fast communication but default communication speed 400kHz for I2C and 1MHz for SPI.