LamaPLC: GY-9250 MPU-9250/6500 9-axis Attitude Sensor Board

The MPU-9250 is among the most sophisticated compact sensors, combining an accelerometer, gyroscope, and compass. It replaces the MPU-9150, offering reduced power consumption, better gyro noise performance, and an expanded full-scale range for the compass.

This sensor features advanced capabilities like low-pass filtering, motion detection, and a programmable specialized processor. Inside, it incorporates the MPU-6500, which houses a 3-axis gyroscope and 3-axis accelerometer, and the AK8963, a high-performance 3-axis digital compass. The MPU-9250 employs 16-bit ADCs to digitize data from all nine axes.

• 1. Nine-Axis Motion Sensing: The GY-9250 MPU-9250 module integrates a nine-axis motion sensor with an accelerometer, gyroscope, and magnetometer, enabling accurate, comprehensive 3D motion tracking.
• 2. Wide Range and High Accuracy: The MPU-9250 chip offers a wide range of measurement options, with gyroscopes ranging from ±250 to ±2000 °/s, accelerometers ranging from ±2 g to ±16 g, and a magnetometer range of ± 4800 uT. It provides high-resolution data output, ensuring accurate and detailed motion sensing.
• 3. Compatible Communication Protocols: The GY-9250 module supports standard IIC and SPI communication protocols, enabling easy integration with microcontrollers and other devices. It offers flexibility and compatibility for seamless data transmission and control.
• 4. Compact Design and Lightweight: With its compact size of 1525 mm and weighing only 2 g, this module is small and lightweight. It occupies minimal space and integrates easily into your project or design.
• 5. High-Quality and Reliable: The GY-9250 MPU-9250 module features a high-quality build, including a gold-plated PCB and machine soldering techniques that guarantee excellent quality and durability. The module's built-in 16-bit ADC delivers accurate, reliable data output.

• Chip used: MPU-9250
• Power supply: 3-5v (internal low dropout regulator)
• Communication method: standard I²C/SPI communication protocol
• Gyroscope range: ±250 500 1000 2000 °/s
• Acceleration range: ±2±4±8±16 g
• Magnetic field range: ±4800 uT
• Pin pitch: 2.54 mm
• Module size: 15*25 mm
• Net weight: 2g

The MPU-9250 I2C address is typically 0x68 (when the AD0 pin is grounded) or 0x69 (when AD0 is pulled high), with 0x68 being the default. The internal magnetometer (AK8963) has a fixed I²C address of 0x0C. 

The circuit includes a low-dropout (LDO) linear regulator that reduces the 5V supply to the 3.3V required by the MPU9250. Because of their small size and limited power dissipation, the board's LDOs cannot manage high voltages, so powering them from 5V is optimal. The module also features the necessary decoupling capacitors for the LDO.

The MPU9250 includes the required pull-up and pull-down resistors for the I²C/SPI lines, the address select, and the frame synchronization pin. Because the I²C pull-up values are high, additional external pull-ups of a lower value can be added to enhance speed. Adequate decoupling is also provided for the chip's various power pins.

Use the wollewald/MPU9250_WE library for this module: https://github.com/wollewald/MPU9250_WE

MPU6500_all_data sample program output (UNO R4 Minima):

Acceleration in g (x,y,z):
0.12   -0.04   0.12
Resultant g: 0.17
Gyroscope data in degrees/s: 
15.36   -5.46   -110.18
Temperature in °C: 21.00
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