An Article to Master MPU6500 6DOF GY-6500 Sensor

				
					#include <SparkFunMPU9250-DMP.h> 
#define SerialPort SerialUSB

MPU9250_DMP imu;
 
void setup()
{
SerialPort.begin(115200);
 
// Call imu.begin() to verify communication with and
// initialize the MPU-9250 to it's default values.
// Most functions return an error code - INV_SUCCESS (0)
// indicates the IMU was present and successfully set up
if (imu.begin() != INV_SUCCESS)
{
while (1)
{
SerialPort.println("Unable to communicate with MPU-9250");
SerialPort.println("Check connections, and try again.");
SerialPort.println();
delay(5000);
}
}
 
// Use setSensors to turn on or off MPU-9250 sensors.
// Any of the following defines can be combined:
// INV_XYZ_GYRO, INV_XYZ_ACCEL, INV_XYZ_COMPASS,
// INV_X_GYRO, INV_Y_GYRO, or INV_Z_GYRO
// Enable all sensors:
imu.setSensors(INV_XYZ_GYRO | INV_XYZ_ACCEL | INV_XYZ_COMPASS);
 
// Use setGyroFSR() and setAccelFSR() to configure the
// gyroscope and accelerometer full scale ranges.
// Gyro options are +/- 250, 500, 1000, or 2000 dps
imu.setGyroFSR(2000); // Set gyro to 2000 dps
// Accel options are +/- 2, 4, 8, or 16 g
imu.setAccelFSR(2); // Set accel to +/-2g
// Note: the MPU-9250's magnetometer FSR is set at 
// +/- 4912 uT (micro-tesla's)
 
// setLPF() can be used to set the digital low-pass filter
// of the accelerometer and gyroscope.
// Can be any of the following: 188, 98, 42, 20, 10, 5
// (values are in Hz).
imu.setLPF(5); // Set LPF corner frequency to 5Hz
 
// The sample rate of the accel/gyro can be set using
// setSampleRate. Acceptable values range from 4Hz to 1kHz
imu.setSampleRate(10); // Set sample rate to 10Hz
 
// Likewise, the compass (magnetometer) sample rate can be
// set using the setCompassSampleRate() function.
// This value can range between: 1-100Hz
imu.setCompassSampleRate(10); // Set mag rate to 10Hz
}
 
void loop()
{
// dataReady() checks to see if new accel/gyro data
// is available. It will return a boolean true or false
// (New magnetometer data cannot be checked, as the library
// runs that sensor in single-conversion mode.)
if ( imu.dataReady() )
{
// Call update() to update the imu objects sensor data.
// You can specify which sensors to update by combining
// UPDATE_ACCEL, UPDATE_GYRO, UPDATE_COMPASS, and/or
// UPDATE_TEMPERATURE.
// (The update function defaults to accel, gyro, compass,
// so you don't have to specify these values.)
imu.update(UPDATE_ACCEL | UPDATE_GYRO | UPDATE_COMPASS);
printIMUData();
}
}
 
void printIMUData(void)
{
// After calling update() the ax, ay, az, gx, gy, gz, mx,
// my, mz, time, and/or temerature class variables are all
// updated. Access them by placing the object. in front:
 
// Use the calcAccel, calcGyro, and calcMag functions to
// convert the raw sensor readings (signed 16-bit values)
// to their respective units.
float accelX = imu.calcAccel(imu.ax);
float accelY = imu.calcAccel(imu.ay);
float accelZ = imu.calcAccel(imu.az);
float gyroX = imu.calcGyro(imu.gx);
float gyroY = imu.calcGyro(imu.gy);
float gyroZ = imu.calcGyro(imu.gz);
float magX = imu.calcMag(imu.mx);
float magY = imu.calcMag(imu.my);
float magZ = imu.calcMag(imu.mz);
 
SerialPort.println("Accel: " + String(accelX) + ", " +
String(accelY) + ", " + String(accelZ) + " g");
SerialPort.println("Gyro: " + String(gyroX) + ", " +
String(gyroY) + ", " + String(gyroZ) + " dps");
SerialPort.println("Mag: " + String(magX) + ", " +
String(magY) + ", " + String(magZ) + " uT");
SerialPort.println("Time: " + String(imu.time) + " ms");
SerialPort.println();
}