Tutorial MPU9250 Arduino to OLED U8g2 Library

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MPU9250 Arduino SSD1306 OLED

Assalamualaikum. In this article, I will provide a tutorial on how to retrieve data from the MPU9250 using Arduino and show the data on the OLED SSD1306 I2C using the u8g2 library.

About MPU-9250

MPU-9250 is an IC in which there are Gyroscope, Accelerometer, and Magnetometer sensors. Each sensor has the ability to read 3-axis, so this mpu9250 IC is also called the Nine-Axis MEMS Motion Tracking Device.

You can see the features of each sensor in the following table:

Range : ±250, ±500, ±1000, and ±2000°/sec
16-bit ADCs
Operating current: 3.2mA
Sleep mode current: 8µA
Tutorial MPU9250 Arduino to OLED U8g2 Library
Range : ±2g, ±4g, ±8g and ±16g
16-bit ADCs
Operating current: 450µA
Sleep mode current: 8µA
Tutorial MPU9250 Arduino to OLED U8g2 Library
Range: ±4800µT
14-bit ADCs
Operating current: 280µA
Tutorial MPU9250 Arduino to OLED U8g2 Library

MPU9250 Pinout

To make it easier for us to use this IC, several company make modules that look like the following:

VCC : +2.4V to +3.6V
GND : 0V
SCL : Serial Clock (I2C)
SDA : Serial Data (I2C)
EDA : Serial Data (Master I2C) for external sensor
ECL : Serial Clock (Master I2C) for external sensor
AD0 : I2C Address.
If AD0 = 0, the address is 1101000.(0x68)
If AD0 = 1, the address is 1101001(0x69)
INT : Interrupt Digital Output
NCS : Chip select (SPI mode only)
FSYNC : Frame synchronization digital input. Connect to GND when not in use
Tutorial MPU9250 Arduino to OLED U8g2 Library
Credit : Tenstar Robot

Arduino MPU-9250 Wiring

To show the data sensor in an OLED display, I use OLED with I2C communication, so the pins used are SCL and SDA.

The MPU9250 sensor, also uses I2C communication, so that the SCL and SDA pins on the MPU9250 and OLED are connected together.

Here it is reminded that this module works normally at +3.3V. The board used is Arduino Uno utilizing the +3.3V pin as shown in the picture beside.

Tutorial MPU9250 Arduino Show Data to OLED U8g2 Library

Henceforth, so that Arduino Uno can read data from the sensor module, we use a library from Sparkfun.

Arduino library

The library for this sensor module is available in the Library Manager. To compile this program code, I use Arduino IDE 2. How to add this library is shown in the following image:

a. MPU9250

Baca Data dari MPU-9250 Menggunakan Arduino

At the time of writing this article, the version of this library is 1.0.2. It may differ from the version you use later.

b. U8g2

Tutorial MPU9250 Arduino to OLED U8g2 Library

After the library installation is complete, let’s look at the basic program code below.


The program code below is the Example program code from the library above. However, for personal use, I deleted several lines of the program so that it was easier to read.

Use the following program code, then upload it to your Arduino board.

/* MPU9250 Basic Example Code
 by: Kris Winer
 date: April 1, 2014
 Modified by Brent Wilkins July 19, 2016

#include "quaternionFilters.h"
#include "MPU9250.h"
#include <Arduino.h>
#include <U8g2lib.h>
#include <Wire.h>

#define SerialDebug true  // Set to true to get Serial output for debugging
#define I2Cclock 400000
#define I2Cport Wire
#define MPU9250_ADDRESS MPU9250_ADDRESS_AD0  // Use either this line or the next to select which I2C address your device is using
//#define MPU9250_ADDRESS MPU9250_ADDRESS_AD1

MPU9250 myIMU(MPU9250_ADDRESS, I2Cport, I2Cclock);
U8G2_SSD1306_128X64_NONAME_1_HW_I2C u8g2(U8G2_R0, /* reset=*/U8X8_PIN_NONE);

void setup() {

  byte c = myIMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);

  if (c == 0x71) {

    do {
      u8g2.setCursor(0, 13);
      u8g2.print("MPU9250 is Online");
    } while (u8g2.nextPage());

    // Start by performing self test and reporting values

    // Calibrate gyro and accelerometers, load biases in bias registers
    myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);

    // Initialize device for active mode read of acclerometer, gyro, and temp

    // Read the WHO_AM_I register of the magnetometer
    byte d = myIMU.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963);

    if (d != 0x48) {
      do {
        u8g2.setCursor(0, 13);
      } while (u8g2.nextPage());

    // Get magnetometer calibration from AK8963 ROM
    // Initialize device for active mode read of magnetometer

    // Get sensor resolutions, only need to do this once

  } else {
    do {
      u8g2.setCursor(0, 13);
      u8g2.print("MPU9250 is Offline");
    } while (u8g2.nextPage());

void loop() {
  // If intPin goes high, all data registers have new data
  // On interrupt, check if data ready interrupt
  if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) {
    myIMU.readAccelData(myIMU.accelCount);  // Read the x/y/z adc values

    // Now we'll calculate the accleration value into actual g's
    // This depends on scale being set
    myIMU.ax = (float)myIMU.accelCount[0] * myIMU.aRes;  // - myIMU.accelBias[0];
    myIMU.ay = (float)myIMU.accelCount[1] * myIMU.aRes;  // - myIMU.accelBias[1];
    myIMU.az = (float)myIMU.accelCount[2] * myIMU.aRes;  // - myIMU.accelBias[2];

    myIMU.readGyroData(myIMU.gyroCount);  // Read the x/y/z adc values

    // Calculate the gyro value into actual degrees per second
    // This depends on scale being set
    myIMU.gx = (float)myIMU.gyroCount[0] * myIMU.gRes;
    myIMU.gy = (float)myIMU.gyroCount[1] * myIMU.gRes;
    myIMU.gz = (float)myIMU.gyroCount[2] * myIMU.gRes;

    myIMU.readMagData(myIMU.magCount);  // Read the x/y/z adc values

    // Calculate the magnetometer values in milliGauss
    // Include factory calibration per data sheet and user environmental
    // corrections
    // Get actual magnetometer value, this depends on scale being set
    myIMU.mx = (float)myIMU.magCount[0] * myIMU.mRes
                 * myIMU.factoryMagCalibration[0]
               - myIMU.magBias[0];
    myIMU.my = (float)myIMU.magCount[1] * myIMU.mRes
                 * myIMU.factoryMagCalibration[1]
               - myIMU.magBias[1];
    myIMU.mz = (float)myIMU.magCount[2] * myIMU.mRes
                 * myIMU.factoryMagCalibration[2]
               - myIMU.magBias[2];
  }  // if (readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)

  // Must be called before updating quaternions!

  //Pass gyro rate as rad/s
  MahonyQuaternionUpdate(myIMU.ax, myIMU.ay, myIMU.az, myIMU.gx * DEG_TO_RAD,
                         myIMU.gy * DEG_TO_RAD, myIMU.gz * DEG_TO_RAD, myIMU.my,
                         myIMU.mx, myIMU.mz, myIMU.deltat);

  myIMU.delt_t = millis() - myIMU.count;
  if (myIMU.delt_t > 500) {

    do {
      //Set font for tittle
      u8g2.drawStr(10, 14, "Akcel");
      u8g2.drawStr(53, 14, "Gyro");
      u8g2.drawStr(90, 14, "Magnet");

      u8g2.setCursor(0, 25);
      u8g2.setCursor(0, 38);
      u8g2.setCursor(0, 50);

      //Set font for data

      //Show Accelerometer Data
      u8g2.setCursor(10, 25);
      u8g2.print(1000 * myIMU.ax);
      u8g2.setCursor(10, 37);
      u8g2.print(1000 * myIMU.ay);
      u8g2.setCursor(10, 49);
      u8g2.print(1000 * myIMU.az);

      //Show Gyroscope Data
      u8g2.setCursor(53, 25);
      u8g2.print(myIMU.gx, 1);
      u8g2.setCursor(53, 37);
      u8g2.print(myIMU.gy, 1);
      u8g2.setCursor(53, 49);
      u8g2.print(myIMU.gz, 1);

      //Show Magnetometer Data
      u8g2.setCursor(90, 25);
      u8g2.setCursor(90, 37);
      u8g2.setCursor(90, 49);

      // Read the adc values
      myIMU.tempCount = myIMU.readTempData();

      // Temperature in degrees Centigrade
      myIMU.temperature = ((float)myIMU.tempCount) / 333.87 + 21.0;

      // Print temperature in degrees Centigrade
      // Show Temperature Data
      u8g2.setCursor(0, 62);
      u8g2.setCursor(65, 62);
      u8g2.print(myIMU.temperature, 2);
      u8g2.setCursor(95, 62);

    } while (u8g2.nextPage());

    myIMU.count = millis();


MPU9250 Datasheet

If needed, I attach the datasheet below to see a complete description of this MPU-9250 IC.

If you get a mistake either in words or program code, comment below immediately. Hopefully, this article on how to read data from the MPU9250 using Arduino is useful.

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