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STM32 #4 SPI：以MPU 9250九軸慣性測量單元為例

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Shih En edited this page Apr 21, 2018 · 21 revisions

MPU-9250是一九軸[慣性測量單元](https://zh.wikipedia.org/wiki/%E6%83%AF%E6%80%A7%E6%B5%8B%E9%87%8F%E5%8D%95%E5%85%83)([IMU, Inertial Measurement Unit](https://en.wikipedia.org/wiki/Inertial_measurement_unit))模組。九軸指的是**三軸的陀螺儀，三個方向的加速度計，和三個方向的磁力計**，來測量物體在三維空間中的角速度，加速度，以及磁場，並以此解算出物體的姿態。

資料收集

MPU-9250

Pinouts

VIN: Voltage Supply Pin
3V3: 3.3v Regulator output
GND: Ground
SCL: I2C Clock / SPI Clock
SDA: I2C Data or SPI Data Input
SDO/SAO: SPI Data output / I2C Slave Address configuration pin
NCS: Chip Select for SPI mode only for MPU-9250
CSB: Chip Select for BMP280

連接:

STM32F103-Nucleo	GY-91
GND	GND
3V3	VIN
PA5 (SPI1 SCK)	SCL
PA6 (SPI1 MISO)	SDA
PA7 (SPI1 MOSI)	SDO/SAO
PA4 (SPI1 SS)	NCS