i2cdevlib, mpu-6050 and maple ide

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i2cdevlib, mpu-6050 and maple ide

(6 posts) (2 voices)

Started 2 years ago by cambazz
Latest reply from cambazz

cambazz
Member

Hello,

I am trying to get the code for the mpu 6050 accelmeter + gyro with mapleboard. Although there are many ways of doing this, I would like to get this code running: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050

So basically, I have copied I2Cdev.cpp and I2Cdev.h, along with MPU6050.cpp and MPU6050.h, and tried to verify the code, and I get bunch of errors. Namely:

<BUILD>/I2Cdev.h:94: error: 'int8_t' does not name a type
<BUILD>/I2Cdev.h:95: error: 'int8_t' does not name a type
<BUILD>/I2Cdev.h:96: error: 'int8_t' does not name a type
<BUILD>/I2Cdev.h:97: error: 'int8_t' does not name a type
<BUILD>/I2Cdev.h:98: error: 'int8_t' does not name a type
<BUILD>/I2Cdev.h:99: error: 'int8_t' does not name a type
<BUILD>/I2Cdev.h:100: error: 'int8_t' does not name a type
<BUILD>/I2Cdev.h:101: error: 'int8_t' does not name a type
<BUILD>/I2Cdev.h:103: error: 'uint8_t' has not been declared
<BUILD>/I2Cdev.h:103: error: 'uint8_t' has not been declared
<BUILD>/I2Cdev.h:103: error: 'uint8_t' has not been declared
<BUILD>/I2Cdev.h:103: error: 'uint8_t' has not been declared
<BUILD>/I2Cdev.h:104: error: 'uint8_t' has not been declared
<BUILD>/I2Cdev.h:104: error: 'uint8_t' has not been declared
<BUILD>/I2Cdev.h:104: error: 'uint8_t' has not been declared
<BUILD>/I2Cdev.h:104: error: 'uint16_t' has not been declared

So are there no uint8_t, uint16_t, int8_t in maple ide? or am I getting something wrong?

Best Regards,
C.B.

Posted 2 years ago #
gbulmer
Moderator

cambazz int8_t, uint8_t, uint16_t etc are defined in the header stdint.h.

So put
#include <stdint.h>
near the top of your source code.

Posted 2 years ago #
cambazz
Member

Hello,

So this fixed my problem, and I am trying to make this library with maple.

This library uses arduino's wire library, and there are different implementations of using Wire depending on the arduino version. What is the proper way to use i2c in maple?
Would it be really diffucult to port this to the lowlevel i2c as in maplelib?

Also, from cpp files we have in the project it can not call millis() and Wire.xx - am I mussing another include?

Best regards,
C.B.

Posted 2 years ago #
cambazz
Member

So I fixed things more, by including wire.h on the cpp files. now the mpu6050 needs things like malloc, memcp, and free - This could be a naive attempt, but I am trying to port it by fixing errors. malloc and memcmp has to do with memory allocation and i am not sure if it is the same in maple.

Best regards,
C.B.

<BUILD>\MPU6050.cpp:2975: error: 'malloc' was not declared in this scope
<BUILD>\MPU6050.cpp:2988: error: 'pgm_read_byte' was not declared in this scope
<BUILD>\MPU6050.cpp:3001: error: 'memcmp' was not declared in this scope
<BUILD>\MPU6050.cpp:3019: error: 'free' was not declared in this scope

Posted 2 years ago #
cambazz
Member

So I progressed even more: I had to add:

#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include "MPU6050.h"

typedef const unsigned char prog_uchar;
#define pgm_read_byte_near(x) (*(prog_uchar*)x)
#define pgm_read_byte(x) (*(prog_uchar*)x)

The first 3 includes takes care of malloc, free and memcmp, while the typedefs redefine this pgm_read_byte function. (this declaration was on leaflabs docs)

So when I compile the program I get the output below:

Going to build using 'armcompiler' (ARM)
Compiling core...
Compiling libraries: Wire
Compiling the sketch...

In member function 'bool MPU6050::writeMemoryBlock(const uint8_t*, uint16_t, uint8_t, uint8_t, bool, bool)':
In member function 'bool MPU6050::writeDMPConfigurationSet(const uint8_t*, uint16_t, bool)':

Linking...
Computing sketch size...

C:\Users\seg\AppData\Local\Temp\build5555698171104260142.tmp\MPU51.cpp.bin :
section size addr
.data 17600 0
Total 17600

Binary sketch size is reported above. Check it against a 108000 byte maximum.

--

the part which it complains about writeMemoryBlock, writeDMPConfigurationSet - is in red. I dont know what this means. I will actually hookup the circuit now, and test if it really works.

However the i2c implementation is still in question.

Best Regards,
-C.B.

Posted 2 years ago #
cambazz
Member

Well the program runs on maple mini, unfortunately, only producing output with all values that are 0. It can not connect and identify the mpu6050. upon further testing I found out that:

bool MPU6050::testConnection() {
return getDeviceID() == 0x34;
}

always returns false, since deviceID is always zero. I am suspecting the i2c is not working as it is supposed to be.

Best Regards,
C.B.

Posted 2 years ago #

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