HughAndersonNUS Posted October 31, 2017 Report Share Posted October 31, 2017 First - thanks very much for the libraries, which I can see reflect a considerable amount of effort. I have had some success in using the MPU6050 library on a project here, but I have one confusion about it's behaviour. My application is using interrupts, DMP and the FIFO, and a single MPU-6050 at address 0x69 (instead of 0x68). My confusion is that the interrupts are occuring at 1/2 the speed set by the mpu.setRate() call. So, for example, if I do mpu.setRate(9), expecting 1000/(9+1) => 100 Hz, but I get precisely 50Hz (20mS). mpu.setRate(4) gives me 100Hz, and so on. Does anyone have any inkling of what may be happening? My program is just a variant of the example ones. In reading the MPU-6050 documentation, there is a comment about slaves running at different sample rates, but I cannot see how it applies here, as I dont have a slave, and I have since commented out the lines in MPU6050_6Axis_MotionApps20.h that seem to be doing something with SLV units. This made no change to the behaviour of the system. I have attached a minimal sample test.ino program which (I think) demonstrates the effect. On my system, the setRate(9) call gives 20mS interrupts.... Any comments gurus? Cheers Hugh test.ino Quote Link to comment Share on other sites More sharing options...
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