mpu9250DEMO.py

# This file is executed on every boot (including wake-boot from deepsleep)

from machine import Pin,I2C
from mpu9250 import MPU9250
import ssd1306
import time

# Initilize i2c

i2c = I2C(scl=Pin(4), sda=Pin(5), freq=1000000)
# Setup 
imu = MPU9250(i2c)
lcd=ssd1306.SSD1306_I2C(128, 64, i2c) 

lcd.text('starting....',0,0)
lcd.show()
time.sleep(2)
button = Pin(16, Pin.IN)                            #create Button object

SENSOR_STATE = 0

def changeSensor(v):
  global SENSOR_STATE
  time.sleep_ms(50)
  if(button.value() == 0):                          #When the button is not pressed, return
    return
  while(button.value() == 1):                       #If press the button, it will wait until released
    time.sleep_ms(100)
  time.sleep_ms(100)
  SENSOR_STATE = (SENSOR_STATE + 1) % 3
  print("SENSOR_STATE: ",SENSOR_STATE)
  
while True:
  try:
    button.irq(trigger=Pin.IRQ_RISING, handler=changeSensor)    #init irq,set interrupt on rising edge,and callback function is func
    while True:
      lcd.fill(0)
      if SENSOR_STATE == 0:
        x,y,z = imu.accel.xyz
        elevation = imu.accel.elevation
        inclination = imu.accel.inclination 
        lcd.text("accel_x %.4f " % x, 0, 0)
        lcd.text("accel_y %.4f " % y, 0, 10)
        lcd.text("accel_z %.4f " % z, 0, 20)
        lcd.text("elevation %.4f " % elevation, 0, 30)
        lcd.text("inclination %.4f " % inclination, 0, 40)      
      elif SENSOR_STATE == 1:
        x,y,z = imu.gyro.xyz
        lcd.text("gyro_x %.4f " % x, 0, 0)
        lcd.text("gyro_y %.4f " % y, 0, 10)
        lcd.text("gyro_z %.4f " % z, 0, 20)
      else:
        x,y,z = imu.mag.xyz
        lcd.text("mag_x %.4f " % x, 0, 0)
        lcd.text("mag_y %.4f " % y, 0, 10)
        lcd.text("mag_z %.4f " % z, 0, 20)

      lcd.show()
      time.sleep_ms(100)
      
      pass      
  except:
    machine.disable_irq()