This repository derives from a few different Arduino sketches created by Kris Winer to support the InvenSense MPU line of Internal Measurement Unit (IMU) sensors.

Here's what I changed:

• Reorganized Kris's source code into the modern Arduino library format
• Simplified the API
• Added support for RaspberryPi via WiringPi
• Added support for NVIDIA Jetson via i2cdev
• Simplified the examples by removing code requiring components other than the MPU sensors

The following sensors are currently supported:

• MPU6000
• MPU6050
• MPU6500
• MPU9250

To use this library you will also need to clone the cross-platform support library.

The MPU6000 and 6500 communicate over the SPI bus. The MPU6050 communicates over the I²C bus. The MPU9250 is a bit more complicated: in master mode you access both sensors (MPU6500 accelerometer/gyrometer, AK8963 magnetometer) at once, over the I²C or SPI bus. In pass-through mode you communicate directly with the IMU and magnetometer over the I²C.

I have tested this library on the following hardware:

• Butterfly STM32L433 development board, I²C

• Teensy 3.2 development board, I²C

• Raspberry Pi 3, I²C

• Raspberry Pi Zero with PXFMini autopilot shield, SPI

• NVIDIA Jetson TX1, I²C

• Omnibus F3 flight controller (MPU6000)

• Alienflight F3 V1 flight controller (MPU6050)

• SPRacing F3 flight controller (MPU6500)

RaspberryPi users should download and install WiringPi, then cd to one of the example folders (e.g., extras/code/wiringpi/MPU6050 and type sudo make run.

NVIDIA Jetson users should install I²C support by running the command:

  sudo apt-get install libi2c-dev i2c-tools

Design Principles

As shown in the class hiearchy diagram below, the MPU library makes extensive use of C++ inheritance to share common code:

Because the MPU9250 contains an MPU6500, the MPU9250 is allowed to be a “friend” class of the MPU6500, sharing some of the latter's code.