@LIGHThouse, the README needs to be updated with more details and the examples placed in the examples folder.
@peekay123 - does it mean that it is working / should work? Are there working examples?
@peekay123 - are the libs updated? Thanks
@pteja, the libs as they stand should work just fine.
This is how the “Serial Monitor” PuTTY window should look with the output of MPU6050_raw, an example code. All data retrieved from the sensor through I2C is sent over serial comm. to the computer.
I used the local tool chain to compile code on Windows with @peekay123’s ported libraries in the GitHub repo.
1 Like
Mike43110, did you every get any progress with the 9150? I am about to try though could use all the pointers I can get. thanks!
I wish…
I got told to put that project on hold until next year, so any progress will be much appreciated 
But I took a look at it and the biggest issue is the calibration.
I think at the moment it is really just removing a bunch of "#ifdef"s and keeping that it only uses the EEPROM code, Then it should work just fine!
PM me if you get stuck, I would love to help! Just sadly don’t have time myself at the moment.
Also this reminds me that I need to retest my library and submit it…
I’ve spent the whole day trying to find a working version of this - I can neither compile the Raw or DMP versions online nor locally on Windows.
@LIGHThouse - do you have a working repo you would care to share?
Never mind - I just figured it out. I hadn’t declared these in the build.mk
CPPSRC += $(TARGET_SRC_PATH)/MPU6050.cpp
CPPSRC += $(TARGET_SRC_PATH)/I2Cdev.cpp
2 Likes
Is the MPU6050_DMP6 demo working?
Thanks
Ok - I include the I2Cdev library and the code looks like this:
// This #include statement was automatically added by the Spark IDE.
#include "I2Cdev/I2Cdev.h"
void setup() {
}
void loop() {
}
This “verifies”/compiles nicely.
Then I add the mpu6050 library which results in this code:
// This #include statement was automatically added by the Spark IDE.
#include “MPU6050/MPU6050.h”
// This #include statement was automatically added by the Spark IDE.
#include "I2Cdev/I2Cdev.h"
void setup() {
}
void loop() {
}
No I get a compile error: MPU6050/MPU6050.h:40:20: fatal error: I2Cdev.h: No such file or directory #include “I2Cdev.h”
So shouldn’t the MPU6050 library reference the I2Cdev library in some way that this works out of the box? Or include I2Cdev in some way?
@marcusbehrens, the MPU6050 library was published to the IDE before changes to the IDE were made. This affects the way external libraries are referenced. The library was cloned from a port I had done and not had a chance to post to the IDE. You can grab all the files you need and create your own app with the tabs you need using the files in my repo here. Let me know how it goes. 
great - this now works very well - thanks a lot
1 Like
While Im compiling peekay123 repo which is of MPU6050-raw .(Using GY 87)
I’ve Included libraries of mpu6050 (which i’ve included from peek123 thank you for your contibution).
I separately added I2C libraries which are found at spark libs.
I got the errors while compiling can anyone help me out im new to spark .
In file included from ../inc/spark_wiring.h:29:0,
from ../inc/application.h:29,
from I2Cdev/I2Cdev.h:49,
from I2Cdev/I2Cdev.cpp:46:
../../core-common-lib/SPARK_Firmware_Driver/inc/config.h:12:2: warning: #warning "Defaulting to Release Build" [-Wcpp]
#warning "Defaulting to Release Build"
^
In file included from MPU6050/MPU6050.cpp:37:0:
MPU6050/MPU6050.h:40:20: fatal error: I2Cdev.h: No such file or directory
#include "I2Cdev.h"
^
compilation terminated.
make: *** [MPU6050/MPU6050.o] Error 1I am also getting the same error as above.
This is just from placing the libraries into the code:
// This #include statement was automatically added by the Spark IDE.
#include "MPU6050/MPU6050.h"
// This #include statement was automatically added by the Spark IDE.
#include "I2Cdev/I2Cdev.h"
Returns error:
In file included from ../inc/spark_wiring.h:29:0,
from ../inc/application.h:29,
from gyrotest.cpp:2:
../../core-common-lib/SPARK_Firmware_Driver/inc/config.h:12:2: warning: #warning "Defaulting to Release Build" [-Wcpp]
#warning "Defaulting to Release Build"
^
gyrotest.cpp:2:29: fatal error: MPU6050/MPU6050.h: No such file or directory
#include "application.h"
^
compilation terminated.
make: *** [gyrotest.o] Error 1
The app (named as “gyrotest.ino”) looks like this:
// This #include statement was automatically added by the Spark IDE.
#include "MPU6050/MPU6050.h"
// This #include statement was automatically added by the Spark IDE.
#include "I2Cdev/I2Cdev.h"
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// 2013-05-08 - added seamless Fastwire support
// - added note about gyro calibration
// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error
// 2012-06-20 - improved FIFO overflow handling and simplified read process
// 2012-06-19 - completely rearranged DMP initialization code and simplification
// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly
// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING
// 2012-06-05 - add gravity-compensated initial reference frame acceleration output
// - add 3D math helper file to DMP6 example sketch
// - add Euler output and Yaw/Pitch/Roll output formats
// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)
// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250
// 2012-05-30 - basic DMP initialization working
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
// #include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high
/* =========================================================================
NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
depends on the MPU-6050's INT pin being connected to the Arduino's
external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
digital I/O pin 2.
* ========================================================================= */
/* =========================================================================
NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
when using Serial.write(buf, len). The Teapot output uses this method.
The solution requires a modification to the Arduino USBAPI.h file, which
is fortunately simple, but annoying. This will be fixed in the next IDE
release. For more info, see these links:
http://arduino.cc/forum/index.php/topic,109987.0.html
http://code.google.com/p/arduino/issues/detail?id=958
* ========================================================================= */
// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION
// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL
// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL
// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL
// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT
#define LED_PIN D7 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
Wire.begin();
//TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
Serial.begin(115200);
while (!Serial.available()) ; // wait for Leonardo enumeration, others continue immediately
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
// Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
// the baud timing being too misaligned with processor ticks. You must use
// 38400 or slower in these cases, or use some kind of external separate
// crystal solution for the UART timer.
// initialize device
Serial.println("Initializing I2C devices...");
mpu.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
// wait for ready
Serial.println("\nSend any character to begin DMP programming and demo: ");
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() && Serial.read()); // empty buffer again
// load and configure the DMP
Serial.println("Initializing DMP...");
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
Serial.println("Enabling DMP...");
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println("Enabling interrupt detection (Arduino external interrupt 0)...");
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println("DMP ready! Waiting for first interrupt...");
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print("DMP Initialization failed (code ");
Serial.print(devStatus);
Serial.println(")");
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// other program behavior stuff here
// .
// .
// .
// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data
// .
// .
// .
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println("FIFO overflow!");
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.println(ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);
#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
}Thanks for posting the MPU6050 library files. I’ve been trying to get them working using the Web IDE. In particularly I wanted to get quaternion output. In the example MPU6050_DMP6.cpp the Web IDE didn’t like line 264
} else if (mpuIntStatus & 0x02) {
I changed this to add an explicit condition
} else if ((mpuIntStatus & 0x02) > 0) {
and the example then compiled ok. I now get values back from the Spark Core but need to do something about the timing as I am getting FIFO overflow errors I think because my Core isn’t quite keeping up with the MPU6050. I read somewhere that you can slow the MPU6050 or speed up the Spark I/O so I will try those out.
I used the technique described at http://www.i2cdevlib.com/forums/topic/27-fifo-overflow/ to slow down the MPU6050 FIFO rate to 20MHz and it’s now working fine, compiled and flashed from the Web IDE. The line to modify is a little further one in the version of MPU6050_6Axis_MotionApps_20.h I have but it’s easy to locate and the instructions of how to slow the FIFO rate are documented in that post.
Thanks for everyone’s hard work in making these great libraries.
Hello @peekay123,
Thanks for you work on this library, it is much appreciated! I was just wondering if I could pick your brain a bit because I am getting some weird things happening.
When I run my code, that is based on your repo, I get really weird readings. Particularly the yaw keeps spitting out 180 degrees and the other two readings a very erratic! I suspected the interrupt because if I disconnect the interrupt pin the code continues. I know this is not supposed to be the case as I have the same setup running on a Teensy 3.0 and if I disconnect it readings are no longer displayed. So then I went through the libraries using the compare function in NotePad++ and it seems that you had an interrupt function missing in the mpu6050 files. There was also a gyro function missing in the MPU6050_6Axis_Motion20 file. I then reflashed the firmware with these changes and at first I thought that this had solved the problem, but a few seconds later it was back to its old tricks. If you have some time, could you please look at it for me? I would really appreciate it!
Please find attached my code.
Thanks for your time,
Dylan
@Dylan144GT, the code in the IDE library appears to be an older version of the most recent code posted on i2cdevlib. With all the changes to the compile cloud since, and the new HAL branch coming very soon, I am going to take the latest library and get it compiling. Are you using Spark CLI or Spark DEV for compiling?
@peekay123, thanks for the reply! Okay, that sounds good! I am using Spark Dev, would this make a difference? Is there an interim solution that I can implement in the mean time whilst you are getting that up and running?
Thanks,
Dylan