MPU9250 low-cost ten-axis sensor (magnetometer, gyroscope, accelerometer)

This project refers to the design of Weixue Electronics [10-axis sensor MPU9250 3-axis acceleration/gyroscope/magnetometer].
In view of the high cost of the ICM20948 project, this project was generated.
Wei Xue selling price: ￥140.39
Cost of this project: ￥89.14
MPU9250 purchase link: MPU9250 299DOF Nine-axis/9-axis attitude acceleration gyroscope compass magnetic field sensor (1688.com)
Power supply range: 3.3V~5.5V (internal low-voltage voltage stabilization )
Using I2C communication up to 400KHz
Accelerometer characteristics:
Resolution: 16-bit
range (optional): ±2, ±4, ±8, ±16g
Operating current: 450uA
Gyroscope characteristics:
Resolution: 16-bit
range (optional) : ±250, ±500, ±1000, ±2000°/sec
Operating current: 3.2mA
Magnetometer characteristics:
Resolution: 14-bit
Range: ±4800µT
Operating current: 280uA
Barometric altimeter characteristics:
Air pressure resolution: 0.0016hPa
Temperature resolution : 0.01°C
Range: 300~1100hPa (Altitude: +9000m ~ -500m)
Air pressure relative accuracy (700hPa~900hPa, 25°C~40°C): ±0.12hPa (±1m)
Operating current (1Hz update rate, Ultra-low power consumption mode): 2.8uA
interface description
pin number
identification
description
1
VCC
3.3V or 5V power supply
2
GND
power ground
3
SDA
I2C data line
4
SCL
I2C clock line
5
INT
MPU9250 digital interrupt output
6
FSYNC
MPU9250 frame synchronization signal

flag Process output format:
Roll, Pitch, Yaw
Roll inclination angle (°), Pitch inclination angle (°), Yaw inclination angle (°)
Acceleration
acceleration (LSB, can be converted to g)
Gyroscope
gyro angular velocity (LSB, can be converted to °/second)
Magnetic
electronic compass inclination angle (°)
Angle
direction angle (°), theoretically equal to Yaw inclination angle.
Pressure
value (hPa)
Altitude
altitude (m)
Temperature
temperature value (℃)
 
When you use the 10 DOF IMU Sensor module for the first time, you may find that the Altitude value output by the module has a large error, because the module first passes the current position of the module (already The altitude Altitude (known) and the air pressure value (known) are used to calculate the sea level air pressure value P0 as the baseline. Please refer to BST-BMP180-DS000-09.pdf: | The acceleration unit measured by the acceleration calculation program is LSB (least significant bit). In actual use, the unit is often converted into gravity acceleration (g).
The sample program of the module sets AFS_SEL=0 by default, and the corresponding range is 16384 LSB/g (±2g), so the actual acceleration measured is: