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kriswiner / MPU9250

Arduino sketches for MPU9250 9DoF with AHRS sensor fusion
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I am 0xFF. I should be 71 #228

Open rachit2jain opened 6 years ago

rachit2jain commented 6 years ago

I don't have Vddi on my breakout board so my wiring is something like this:

VCC --> 3.3 V GND --> GND SCL --> A5 SDA --> A4 ADO --> GND

After reading through a lot of issues already raised, I did an I2CScan() and the output was: Scanning... I2C device found at address 0x68!

But it shows MPU9250 I AM FF I should be 71.

These are the 4 basic lines of my code.

#define    MPU9250_ADDRESS            0x68
#define    WHO_AM_I_MPU9250           0x75
byte c = readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX); Serial.print(" I should be "); Serial.println(0x71, HEX);

Any idea on why is it happening? Thanks a ton in advance!

kriswiner commented 6 years ago

No idea, what kind f MCU and Arduino Wire library are you using?

On Sun, Jan 14, 2018 at 9:50 PM, rachit2jain notifications@github.com wrote:

I don't have Vddi on my breakout board so my wiring is something like this:

VCC --> 3.3 V GND --> GND SCL --> A5 SDA --> A4 ADO --> GND

After reading through a lot of issues already raised, I did an I2CScan() and the output was: Scanning... I2C device found at address 0x68!

But it shows MPU9250 I AM FF I should be 71.

These are the 4 basic lines of my code.

define MPU9250_ADDRESS 0x68

define WHO_AM_I_MPU9250 0x75

byte c = readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX); Serial.print(" I should be "); Serial.println(0x71, HEX);

Any idea on why is it happening? Thanks a ton in advance!

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rachit2jain commented 6 years ago

Hi Kris,

Thank you so much for your reply. I am using Arduino Uno R3 and using Wire.h

#include <Wire.h>
#define    GYRO_FULL_SCALE_250_DPS    0x00
#define    GYRO_FULL_SCALE_500_DPS    0x08
#define    GYRO_FULL_SCALE_1000_DPS   0x10
#define    GYRO_FULL_SCALE_2000_DPS   0x18
#define    MPU9250_ADDRESS            0x68
#define    WHO_AM_I_MPU9250           0x75

void setup() {
  Wire.begin();
  Serial.begin(9600);
  I2Cscan();
  delay(1000);
  I2CwriteByte(MPU9250_ADDRESS,27,GYRO_FULL_SCALE_2000_DPS);
  byte c = readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
  Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX); Serial.print(" I should be "); Serial.println(0x71, HEX);
  if (c == 0x71) 
  {  
    Serial.println("MPU9250 is online...");
  }
  else{
    Serial.println(c);
  }

}

void loop() {
  uint8_t Buf[14];
  I2Cread(MPU9250_ADDRESS,0x3B,14,Buf);
  int16_t gx=-(Buf[8]<<8 | Buf[9]);
  int16_t gy=-(Buf[10]<<8 | Buf[11]);
  int16_t gz=Buf[12]<<8 | Buf[13];

  Serial.print (gx,DEC); 
  Serial.print ("\t");
  Serial.print (gy,DEC);
  Serial.print ("\t");
  Serial.print (gz,DEC);  
  Serial.print ("\t");
  delay(100);
  Serial.println("");

}

void I2Cread(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data)
{
  // Set register address
  Wire.beginTransmission(Address);
  Wire.write(Register);
  Wire.endTransmission();

  // Read Nbytes
  Wire.requestFrom(Address, Nbytes); 
  uint8_t index=0;
  while (Wire.available())
    Data[index++]=Wire.read();
}
void I2CwriteByte(uint8_t Address, uint8_t Register, uint8_t Data)
{
  // Set register address
  Wire.beginTransmission(Address);
  Wire.write(Register);
  Wire.write(Data);
  Wire.endTransmission();
}
void I2Cscan()
{
// scan for i2c devices
  byte error, address;
  int nDevices;

  Serial.println("Scanning...");

  nDevices = 0;
  for(address = 1; address < 127; address++ )
  {
    // The i2c_scanner uses the return value of
    // the Write.endTransmisstion to see if
    // a device did acknowledge to the address.
    Wire.beginTransmission(address);
    error = Wire.endTransmission();

    if (error == 0)
    {
      Serial.print("I2C device found at address 0x");
      if (address<16)
        Serial.print("0");
      Serial.print(address,HEX);
      Serial.println("  !");

      nDevices++;
    }
    else if (error==4)
    {
      Serial.print("Unknow error at address 0x");
      if (address<16)
        Serial.print("0");
      Serial.println(address,HEX);
    }
  }
  if (nDevices == 0)
    Serial.println("No I2C devices found\n");
  else
    Serial.println("done\n");

}
uint8_t readByte(uint8_t address, uint8_t subAddress)
{
  uint8_t data; // `data` will store the register data   
  Wire.beginTransmission(address);         // Initialize the Tx buffer
  Wire.write(subAddress);                  // Put slave register address in Tx buffer
  Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
  Wire.requestFrom(address, (uint8_t) 1);  // Read one byte from slave register address 
  data = Wire.read();                      // Fill Rx buffer with result
  return data;                             // Return data read from slave register
}

This is my whole code.

kriswiner commented 6 years ago

No idea, do you have pullups on your breakout board?

On Mon, Jan 15, 2018 at 1:37 AM, rachit2jain notifications@github.com wrote:

Hi Kris,

Thank you so much for your reply. I am using Arduino Uno R3 and using Wire.h

include

define GYRO_FULL_SCALE_250_DPS 0x00

define GYRO_FULL_SCALE_500_DPS 0x08

define GYRO_FULL_SCALE_1000_DPS 0x10

define GYRO_FULL_SCALE_2000_DPS 0x18

define MPU9250_ADDRESS 0x68

define WHO_AM_I_MPU9250 0x75

void setup() { Wire.begin(); Serial.begin(9600); I2Cscan(); delay(1000); I2CwriteByte(MPU9250_ADDRESS,27,GYRO_FULL_SCALE_2000_DPS); byte c = readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c, HEX); Serial.print(" I should be "); Serial.println(0x71, HEX); if (c == 0x71) { Serial.println("MPU9250 is online..."); } else{ Serial.println(c); }

}

void loop() { uint8_t Buf[14]; I2Cread(MPU9250_ADDRESS,0x3B,14,Buf); int16_t gx=-(Buf[8]<<8 | Buf[9]); int16_t gy=-(Buf[10]<<8 | Buf[11]); int16_t gz=Buf[12]<<8 | Buf[13];

Serial.print (gx,DEC); Serial.print ("\t"); Serial.print (gy,DEC); Serial.print ("\t"); Serial.print (gz,DEC); Serial.print ("\t"); delay(100); Serial.println("");

}

void I2Cread(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data) { // Set register address Wire.beginTransmission(Address); Wire.write(Register); Wire.endTransmission();

// Read Nbytes Wire.requestFrom(Address, Nbytes); uint8_t index=0; while (Wire.available()) Data[index++]=Wire.read(); } void I2CwriteByte(uint8_t Address, uint8_t Register, uint8_t Data) { // Set register address Wire.beginTransmission(Address); Wire.write(Register); Wire.write(Data); Wire.endTransmission(); } void I2Cscan() { // scan for i2c devices byte error, address; int nDevices;

Serial.println("Scanning...");

nDevices = 0; for(address = 1; address < 127; address++ ) { // The i2c_scanner uses the return value of // the Write.endTransmisstion to see if // a device did acknowledge to the address. Wire.beginTransmission(address); error = Wire.endTransmission();

if (error == 0)
{
  Serial.print("I2C device found at address 0x");
  if (address<16)
    Serial.print("0");
  Serial.print(address,HEX);
  Serial.println("  !");

  nDevices++;
}
else if (error==4)
{
  Serial.print("Unknow error at address 0x");
  if (address<16)
    Serial.print("0");
  Serial.println(address,HEX);
}

} if (nDevices == 0) Serial.println("No I2C devices found\n"); else Serial.println("done\n");

} uint8_t readByte(uint8_t address, uint8_t subAddress) { uint8_t data; // data will store the register data Wire.beginTransmission(address); // Initialize the Tx buffer Wire.write(subAddress); // Put slave register address in Tx buffer Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address data = Wire.read(); // Fill Rx buffer with result return data; // Return data read from slave register }

This is my whole code.

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rachit2jain commented 6 years ago

https://www.makerlab-electronics.com/product/mpu9250-9-dof-3-axis-accelerometer-gyro-magnetometer/

I have this breakout board. It says the pull ups are on SDA/SCL

rachit2jain commented 6 years ago

I measured the voltage across SCL and SDA and they are around 2V. Across VCC is around 1.5V.

kriswiner commented 6 years ago

This is too low. The MPU9250 minimum voltage is 2.4 V. Something is wrong with your set up. Use 3.30 V for VCC.

On Tue, Jan 16, 2018 at 2:15 AM, rachit2jain notifications@github.com wrote:

I measured the voltage across SCL and SDA and they are around 2V. Across VCC is around 1.5V.

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xabixab commented 6 years ago

Hi,

I have the same breakout board and i am having the same issue. I am using Teensy 3.2 and i am connecting the MPU9250 to 3.3v

Any ideas?

Regards, Xabier

xabixab commented 6 years ago

Sorry, it was my fault. I hadn't changed the i2c pins to the 18/19 of the teensy.

Working great! Amazing!

kriswiner commented 5 years ago

What address are you using to read registers? 0x68? 0x69?

On Mon, Jul 1, 2019 at 1:55 AM VishuMangla notifications@github.com wrote:

Hi Kris, I am using GY-87 MPU9250

https://robu.in/product/mpu9250-9-axis-attitude-gyro-accelerator-magnetometer-sensor-module/?gclid=Cj0KCQjw3uboBRDCARIsAO2XcYBY9YTLmjqps-GraML8phRKSW5r56VKu8F4qGRRa5r1Z4hsQnKMl1caAo5XEALw_wcB I tried to connect it to arduino board and after running code . After reading through a lot of issues already raised, I did an I2CScan() and the output was: Scanning... I2C device found at address 0x68!

But it shows MPU9250 I AM FF I should be 71.

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iFrostizz commented 4 years ago

Hi, same issue... I get 0x68 I2C adress on the scanner, and I have the same error message. Using an Arduino Uno with a MPU9250 bought here: https://www.ebay.fr/itm/MPU-9250-9-axes-Gyroscope-Accelerateur-magnetometre-MPU9250-1300Z/293106686659?_trkparms=ispr%3D1&hash=item443e851ac3:g:8~UAAOSwkLBc77qH&enc=AQAEAAACQBPxNw%2BVj6nta7CKEs3N0qXGRBquWmwR0g8541HJZFA%2BTerOzTshkq1bInEEMT9xhtbc5AUr%2FhlYg9S7jriVujLpTA1K%2BmVRripX6fNJT%2F45%2Bo9rLK%2By%2BFQ1IuNNwULO29wy0WMBqaKm0OePjqElXfEGQx%2B2vUmYP%2Fk%2BBsYVyq%2F7%2BoWxpnmtN6Ln0xt%2BBiS1CBTDy6eD11xTFOHHVslMR%2BjT3itIqIffvujPZpwBdHnLLxVypB1lj%2F8ijgkDVZFGXn%2BtJIOD2hkV9Aifql7MKks72m48pMBnpGYa7IHPEJG%2F%2FIMNp79JQtovN0govsggNauwYCZZE2eiMCObitW2FHHEhZUeoeZptPy93wP%2BI4eztAfzlGtOF5OyrATjQuovxBcEC4tisQphVcDkZ1LAABlpqNBTMxvaLKZtDVlGYHM8j4%2FIsndvxZ0u0oihcHipChwA7DcvUsa4uri9avIZJS3mgynn8BA5zz1xV4OpR11AnHll60ySOI0sB9mY0zcdXEybxK6YO%2B6ahbMfmUcg5tlR19z6YUWGV7Km8KaJLP8mU4I0bdsFuVJhfP3cJJAQWKSnEaYdEtQ0ewWq27cPRzlaqbm6Wf17IpteOf5hNth0SO9GEGtaZ67FyqWFE5t0uutt7kCQCO661wZaEjVdQG2VzmPXN4wyyoBXeS6QT5NPk1ooZ6ojC23E1cGEzOmn6fuL9n50Bha7hKrau36dLzzvWzyhRDRuPqFLrvz9dLxX113aiQf1FgW5OminbdjjmA%3D%3D&checksum=2931066866594e2c1bac1d834f969ab55527943c2d84

kriswiner commented 4 years ago

Are you pulling up nCS also?

On Sun, Apr 12, 2020 at 7:28 AM iFrostizz notifications@github.com wrote:

Hi, same issue... I get 0x68 I2C adress on the scanner, and I have the same error message. Using an Arduino Uno with a MPU9250 bought here: https://www.ebay.fr/itm/MPU-9250-9-axes-Gyroscope-Accelerateur-magnetometre-MPU9250-1300Z/293106686659?_trkparms=ispr%3D1&hash=item443e851ac3:g:8~UAAOSwkLBc77qH&enc=AQAEAAACQBPxNw%2BVj6nta7CKEs3N0qXGRBquWmwR0g8541HJZFA%2BTerOzTshkq1bInEEMT9xhtbc5AUr%2FhlYg9S7jriVujLpTA1K%2BmVRripX6fNJT%2F45%2Bo9rLK%2By%2BFQ1IuNNwULO29wy0WMBqaKm0OePjqElXfEGQx%2B2vUmYP%2Fk%2BBsYVyq%2F7%2BoWxpnmtN6Ln0xt%2BBiS1CBTDy6eD11xTFOHHVslMR%2BjT3itIqIffvujPZpwBdHnLLxVypB1lj%2F8ijgkDVZFGXn%2BtJIOD2hkV9Aifql7MKks72m48pMBnpGYa7IHPEJG%2F%2FIMNp79JQtovN0govsggNauwYCZZE2eiMCObitW2FHHEhZUeoeZptPy93wP%2BI4eztAfzlGtOF5OyrATjQuovxBcEC4tisQphVcDkZ1LAABlpqNBTMxvaLKZtDVlGYHM8j4%2FIsndvxZ0u0oihcHipChwA7DcvUsa4uri9avIZJS3mgynn8BA5zz1xV4OpR11AnHll60ySOI0sB9mY0zcdXEybxK6YO%2B6ahbMfmUcg5tlR19z6YUWGV7Km8KaJLP8mU4I0bdsFuVJhfP3cJJAQWKSnEaYdEtQ0ewWq27cPRzlaqbm6Wf17IpteOf5hNth0SO9GEGtaZ67FyqWFE5t0uutt7kCQCO661wZaEjVdQG2VzmPXN4wyyoBXeS6QT5NPk1ooZ6ojC23E1cGEzOmn6fuL9n50Bha7hKrau36dLzzvWzyhRDRuPqFLrvz9dLxX113aiQf1FgW5OminbdjjmA%3D%3D&checksum=2931066866594e2c1bac1d834f969ab55527943c2d84

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fabiopdm commented 3 years ago

Same behavior here...

Using Arduino Uno R3 and this board GY-91.

GY91-------------------------Arduino Uno VIn---------------------------5v 3v3---------------------------X GND------------------------- Ground SCL---------------------------A5 SDA--------------------------A4 SD0/SA0--------------------- 3.3V NCS--------------------------X CSB--------------------------X

Tried also without Ground on NCS, and also without 3.3V on SD0/SA0 (changing the address on the library, like 0x76 for BPM280).

I can reach the BPM280 and obtain the measures. Using a little example from the Adafruit for BPM280.

Using you MPU9250_BPM280_MS5637_t3 code (changing the comments to the Wire.h for Arduino, I have the follow output from serial monitor:

Scanning...
I2C device found at address 0x77  !
done

MPU9250 9-axis motion sensor...
MPU9250 I AM FF I should be 71
Could not connect to MPU9250: 0xFF

Maybe I have a problem in the MPU9250 (burned or malfunctioning) or maybe this is in the sleeping mode. Can you give me some clue? Maybe something in the code to write in some register, to put online the MPU. I am losing hope of finding a solution.

kriswiner commented 3 years ago

No idea. Maybe the GY-91 is broken? nCS should be HIGH if using I2C. Try connecting 3V3 and nCS...

On Wed, Dec 23, 2020 at 7:09 PM fabiopdm notifications@github.com wrote:

Same behavior here...

Using Arduino Uno R3 and this board GY-91 https://produto.mercadolivre.com.br/MLB-1436250599-acelermetro-e-giroscopio-9-eixos-10-dof-mpu-9250-com-bmp280-_JM .

GY91-------------------------Arduino Uno VIn---------------------------5v 3v3---------------------------X GND------------------------- Ground SCL---------------------------A5 SDA--------------------------A4 SD0/SA0--------------------- 3.3V NCS--------------------------X CSB--------------------------X

Tried also without Ground on NCS, and also without 3.3V on SD0/SA0 (changing the address on the library, like 0x76 for BPM280).

I can reach the BPM280 and obtain the measures. Using a little example from the Adafruit for BPM280.

Using you MPU9250_BPM280_MS5637_t3 code (changing the comments to the Wire.h for Arduino, I have the follow output from serial monitor:

Scanning... I2C device found at address 0x77 ! done

MPU9250 9-axis motion sensor... MPU9250 I AM FF I should be 71 Could not connect to MPU9250: 0xFF

Maybe I have a problem in the MPU9250 (burned or malfunctioning) or maybe this is in the sleeping mode. Can you give me some clue? Maybe something in the code to write in some register, to put online the MPU. I am losing hope of finding a solution.

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fabiopdm commented 3 years ago

No idea. Maybe the GY-91 is broken? nCS should be HIGH if using I2C. Try connecting 3V3 and nCS... …

Connecting NCS on 3.3V, still the same results. Not working.

I found this site, and looking for the wiring connection, I believe that there is no need for NCS connection.

I will ask a refund for the vendor here, if its not possible... maybe buy a new one. #448

Thanks for you time @kriswiner.

fabiopdm commented 3 years ago

Hi @kriswiner! I found the problem.

It was on the chip MPU9250, it is a problem of cold soldering, causing poor contact of the chip.

I bought a new GY-91, waiting to arrive.

Only to report the solution/problem to our friends here.

Best regards.

kriswiner commented 3 years ago

Hope you have better luck with the new board.

The MPU9250 is out of production for almost a year now.

You might think about switching to something like this https://www.tindie.com/products/onehorse/all-st-motion-sensor-breakout-board/ .

On Sun, Dec 27, 2020 at 9:13 AM fabiopdm notifications@github.com wrote:

Hi @kriswiner https://github.com/kriswiner! I found the problem.

It was on the chip MPU9250, it is a problem of cold soldering, causing poor contact of the chip.

I bought a new GY-91, waiting to arrive.

Only to report the solution/problem to our friends here.

Best regards.

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baraiyadk commented 1 year ago

i am facing same problem I am using arduino mega2560 with grove IMU 9 DOF

VCC --> 3.3 V GND --> GND SCL --> SCL SDA --> SDA

error below: Scanning... I2C device found at address 0x0C ! I2C device found at address 0x68 ! I2C device found at address 0x69 ! done MPU9250 9-axis motion sensor... MPU9250_1 I AM 11 I should be 71 MPU9250_2 I AM 11 I should be 71 Could not connect to MPU9250 1: 0x11 Could not connect to MPU9250 2: 0x11

kriswiner commented 1 year ago

Well, you are seeing two MPU9250's, one at 0x68 and one at 0x69 on the I2C bus as well as one AK8963C. If you are having trouble reading the WO_AM_I register it is likely a problem with the I2C readByte API and not the sensors.

On Thu, Mar 9, 2023 at 1:34 PM baraiyadk @.***> wrote:

i am facing same problem I am using arduino mega2560 with grove IMU 9 DOF

VCC --> 3.3 V GND --> GND SCL --> SCL SDA --> SDA

error below: Scanning... I2C device found at address 0x0C ! I2C device found at address 0x68 ! I2C device found at address 0x69 ! done MPU9250 9-axis motion sensor... MPU9250_1 I AM 11 I should be 71 MPU9250_2 I AM 11 I should be 71 Could not connect to MPU9250 1: 0x11 Could not connect to MPU9250 2: 0x11

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baraiyadk commented 1 year ago

Thank you for your response. Can you please tell me what should i do next? Change the adress?

Sent from my T-Mobile 5G Device Get Outlook for Androidhttps://aka.ms/AAb9ysg

From: Kris Winer @.> Sent: Thursday, March 9, 2023 3:38:59 PM To: kriswiner/MPU9250 @.> Cc: Baraiya, Dhavalkumar @.>; Comment @.> Subject: Re: [kriswiner/MPU9250] I am 0xFF. I should be 71 (#228)

[External]

Well, you are seeing two MPU9250's, one at 0x68 and one at 0x69 on the I2C bus as well as one AK8963C. If you are having trouble reading the WO_AM_I register it is likely a problem with the I2C readByte API and not the sensors.

On Thu, Mar 9, 2023 at 1:34 PM baraiyadk @.***> wrote:

i am facing same problem I am using arduino mega2560 with grove IMU 9 DOF

VCC --> 3.3 V GND --> GND SCL --> SCL SDA --> SDA

error below: Scanning... I2C device found at address 0x0C ! I2C device found at address 0x68 ! I2C device found at address 0x69 ! done MPU9250 9-axis motion sensor... MPU9250_1 I AM 11 I should be 71 MPU9250_2 I AM 11 I should be 71 Could not connect to MPU9250 1: 0x11 Could not connect to MPU9250 2: 0x11

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