MPU9250.ino

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);
}