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/MPU9250.ino Secret
Created Oct 23, 2017

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MPU9250.ino
#include "MPU9250.h"
// an MPU9250 object with the MPU-9250 sensor on Teensy Chip Select pin 10
MPU9250 IMU(10);
float ax, ay, az, gx, gy, gz, hx, hy, hz, t;
int beginStatus, setFiltStatus;
volatile int i = 0;
void setup() {
// serial to display data
Serial.begin(115200);
delay(1000);
Serial.println("Starting...");
// start communication with IMU and
// set the accelerometer and gyro ranges.
// ACCELEROMETER 2G 4G 8G 16G
// GYRO 250DPS 500DPS 1000DPS 2000DPS
beginStatus = IMU.begin(ACCEL_RANGE_4G,GYRO_RANGE_250DPS);
if(beginStatus < 0) {
delay(1000);
Serial.println("IMU initialization unsuccessful");
Serial.println("Check IMU wiring or try cycling power");
while(1)
{
Serial.print("Failure: ");
Serial.println(beginStatus);
};
}
// set up the IMU DLPF, data output rate,
// and interrupt. DLPF set to 41 Hz,
// data output rate set to 100 Hz, and
// MPU-9250 generated interrupt attached
// to Teensy pin 2
setFiltStatus = IMU.setFilt(DLPF_BANDWIDTH_41HZ,9);
if(setFiltStatus < 0) {
delay(1000);
Serial.println("Filter initialization unsuccessful");
while(1)
{
Serial.println("Failure2!");
};
}
pinMode(2,INPUT);
attachInterrupt(2,getIMU,RISING);
}
void loop()
{
Serial.println("Hi!");
}
void getIMU(){
// get the accel (m/s/s), gyro (rad/s), and magnetometer (uT), and temperature (C) data
IMU.getMotion10(&ax, &ay, &az, &gx, &gy, &gz, &hx, &hy, &hz, &t);
i++;
// print the results every 10 frames
if(i > 9){
printData();
i = 0;
}
}
void printData(){
// print the data
Serial.print(ax,6);
Serial.print("\t");
Serial.print(ay,6);
Serial.print("\t");
Serial.print(az,6);
Serial.print("\t");
Serial.print(gx,6);
Serial.print("\t");
Serial.print(gy,6);
Serial.print("\t");
Serial.print(gz,6);
Serial.print("\t");
Serial.print(hx,6);
Serial.print("\t");
Serial.print(hy,6);
Serial.print("\t");
Serial.print(hz,6);
Serial.print("\t");
Serial.println(t,6);
}
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