MPU9255 Data is wrong and recommend some improvements

[williamesp2015]

This is great source for MPU9255 but I found error and unstability of sensor data in readsensor() when I printed raw data: // display the data Serial.print(_axcounts); Serial.print(" \t"); Serial.print(_aycounts); Serial.print(" \t"); Serial.print(_azcounts); Serial.print(" \t"); Serial.print(_gxcounts); Serial.print(" \t"); Serial.print(_gycounts); Serial.print(" \t"); Serial.print(_gzcounts); Serial.print(" \t"); Serial.print(_hxcounts); Serial.print(" \t"); Serial.print(_hycounts); Serial.print(" \t"); Serial.print(_hzcounts); Serial.print(" \t"); Serial.println(_tcounts); raw data printed like this: 30827 -59 -32145 32763 48 -22 27 10 32730 -31909 30825 32703 618 -5 -32702 32747 27 10 32730 859 30825 32703 618 -5 -32702 32747 27 10 32730 859 30813 -61 -32168 32767 54 -16 27 10 32730 856 30813 -61 -32168 32767 54 -16 27 10 32730 856 30836 -57 -32152 -1 -4 -4 27 10 32730 858 30836 -57 -32152 -1 -4 -4 27 10 32730 858

I also recommend custom SPI definition using: int MPU9250::begin(uint8_t CLKPIN,uint8_t SOPIN,uint8_t SIPIN,uint8_t _csPIN) // setting CS pin to output pinMode(_csPin,OUTPUT); // setting CS pin high digitalWrite(_csPin,HIGH); // setting SPI SO pin to output pinMode(SOPIN,OUTPUT); // setting SPI SI pin to input pinMode(SIPIN,INPUT); // setting SPI CLK pin to input pinMode(CLKPIN,INPUT); // begin SPI communication // _spi->begin(); _spi->begin(CLKPIN,SOPIN,SIPIN,_csPIN);////SPI.begin(int8_t sck=SCK, int8_t miso=MISO, int8_t mosi=MOSI, int8_t ss=-1);

[flybrianfly]

Can you please attach or send the code you are using for the counts data?

For the SPI methods, you can use the SPI.setMISO, SPI.setMOSI, and SPI.setSCK commands, like this:

MPU9250 IMU(SPI,10);
int status;

void setup() {
  // serial to display data
  Serial.begin(115200);
  while(!Serial) {}

  SPI.setMOSI(7);
  SPI.setMISO(8);
  SPI.setSCK(14);

  // start communication with IMU 
  status = IMU.begin();
  if (status < 0) {
    Serial.println("IMU initialization unsuccessful");
    Serial.println("Check IMU wiring or try cycling power");
    Serial.print("Status: ");
    Serial.println(status);
    while(1) {}
  }
}

[williamesp2015]

Thanks. I am using ESP32 development board with ESP32-Arduino using PlatformIo and it has not SPI.setMOSI.... so I mannually configured SPI pins then start SPI (SPI.begin(_SCK,_MISO, _MOSI, ss);). I have doubt about my GY-9255 MPU-9255 Sensor Module (http://www.electrodragon.com/product/9dof-mpu-9255-3d-acceleromagnetogyroscope-breakout/). Anyone had experience with this board? I have another problem using Arduino-generic brach when I want to start MPU9255 interrupt: ///////////MPU9255 // 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){}; }

// 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){}; } pinMode(INT_PIN,INPUT); attachInterrupt(INT_PIN,getIMU,RISING); ESP32 restarts once starts Interrupt. I also added IMU.enableInt(true); before last line but had no different outcome.

[Ananfruit]

Can you share the code when you calibrate your accel and gyro, please? Thanks in advance!