Mpu 6050 ошибка

Thanks Jeff and Pam for suggestions.  No luck so far, though!

Here are more details I should have mentioned the first time around:

Arduino Uno R3 SMD

SparkFun MPU6050 breakout board

Connections:

VDD — Arduino 3.3v

GND — Arduino GND

INT — Arduino digital pin 2

FSYNC — unconnected

SCL — Arduino SCL dedicated pin 

SDA — Arduino SDA dedicated pin

VIO — Arduino 3.3v

CLK — unconnected

ASCL — unconnected

ASDA — unconnected

MPU6050_raw sketch modified by putting …

accelgyro.setSleepEnabled(false);

… after the line which has accelgyro.testConnection() in it.

Example serial output:

Initializing I2C devices…

Testing device connections…

MPU6050 connection failed

a/g: 0 0 0 0 0 0

a/g: 0 0 0 0 0 0

a/g: 0 0 0 0 0 0

a/g: 0 0 0 0 0 0

a/g: 0 0 0 0 0 0

etc.

It looks like AD0 is grounded on the SparkFun board.  I have

not modified the board.

Tried SCL/SDA on A5/A4; got same result.

Don’t know if the Arduino Uno R3 SMD has internal pull up 

resistors on SCL/SDA.  The SparkFun board has 10k pull up 

resistors on those lines.

I appreciate any more suggestions you may have.

Thanks,

Riccati

Источник

From the MPU-6000/MPU-6050 Register Map and Descriptions:

  • Section 4.28, Register 107 – Power Management 1 PWR_MGMT_1, pages 40 to 41:

    Note:
    When using SPI interface, user should use DEVICE_RESET (register 107) as well as SIGNAL_PATH_RESET (register 104) to ensure the reset is performed properly. The sequence used should be:

    1. Set DEVICE_RESET = 1 (register PWR_MGMT_1)
    2. Wait 100ms
    3. Set GYRO_RESET = ACCEL_RESET = TEMP_RESET = 1 (register SIGNAL_PATH_RESET)
    4. Wait 100ms

  • Section 4.26, Register 104 – Signal Path Reset SIGNAL_PATH_RESET, page 37:

    Note: This register does not clear the sensor registers. The reset initializes the serial interface as well.

  • Section 3, Register Map, page 8:

    The reset value is 0x00 for all registers other than the registers below.

    • Register 107: 0x40.
    • Register 117: 0x68.

This means that the PWR_MGMT_1 register defaults to sleep mode after a reset so it needs to be rewritten to disable sleep mode after commanding a reset.

void initializeSensor()
{
  //
  // Perfrom full reset as per MPU-6000/MPU-6050 Register Map and Descriptions, Section 4.28, pages 40 to 41.
  //

  // performing full device reset, disables temperature sensor, disables SLEEP mode
  Wire.beginTransmission(0x68);  // Device address.
  Wire.write(0x6B);              // PWR_MGMT_1 register.
  Wire.write(0b10001000);        // DEVICE_RESET, TEMP_DIS.
  Wire.endTransmission();
  delay(100);                    // Wait for reset to complete.

  Wire.beginTransmission(0x68);  // Device address.
  Wire.write(0x68);              // SIGNAL_PATH_RESET register.
  Wire.write(0b00000111);        // GYRO_RESET, ACCEL_RESET, TEMP_RESET.
  Wire.endTransmission();
  delay(100);                    // Wait for reset to complete.

  // Disable SLEEP mode because the reset re-enables it. Section 3, PWR_MGMT_1 register, page 8.
  Wire.beginTransmission(IMUAddress);   // Device address.
  Wire.write(0x6B);                     // PWR_MGMT_1 register.
  Wire.write(0b00001000);               // SLEEP = 0, TEMP_DIS = 1.
  Wire.endTransmission();
}

In the following code I’ve:

  1. Modified readGyro() to implement 3 states (Request, Wait, and Read) and return true when 6 bytes have been read from the MPU-6050.

  2. Added Blink Without Delay to loop() to see whether the MCU freezes which requires changing the ADO pin from pin 13 (the built-in led) to another pin, i.e. pin 12.

  3. Added several Serial.print() statements for debugging to see where things go wrong.

  4. Tweaked the code in response to comments.

#include <Wire.h>

const byte IMUAddress = 0x68;   // Added for readability and maintainability.
const byte addressPin = 12;     // Changed from 13 to 12 because 13 is built-in LED.

int gyroX, gyroY, gyroZ;

void setup()
{
  Wire.begin();
  Serial.begin(115200);
  Serial.println(F("\n\nMPU-6050 Test\n"));

  // Designating pins as I/O.
  pinMode(addressPin, OUTPUT);
  pinMode(LED_BUILTIN, OUTPUT);  // Added LED for heartbeat signal.

  // Setting IMU address to 0x68 (LOW).
  digitalWrite(addressPin, IMUAddress & 1);  // Added bit mask of bit 0.

  initializeSensor();
}

void loop()
{
  //
  // TASK 1: Blink without delay to indicate that MCU hasn't frozen.
  //
  const unsigned int INTERVAL = 250;
  unsigned long current_timestamp = millis();
  static unsigned long previous_timestamp = current_timestamp;
  static bool led_state = false;
  if (current_timestamp - previous_timestamp >= INTERVAL)
  {
    led_state = !led_state;
    digitalWrite(LED_BUILTIN, led_state);
    previous_timestamp += INTERVAL;
  }

  //
  // TASK 2: Read gyro.
  //
  if (readGyro())
  {
    Serial.print(gyroX);
    Serial.print(F("    "));
    Serial.print(gyroY);
    Serial.print(F("    "));
    Serial.println(gyroZ);
  }
}

void initializeSensor()
{
  //
  // Perform full reset as per MPU-6000/MPU-6050 Register Map and Descriptions, Section 4.28, pages 40 to 41.
  //

  Serial.print(F("Performing full reset of MPU-6050..."));

  Wire.beginTransmission(IMUAddress);   // Device address.
  Wire.write(0x6B);                     // PWR_MGMT_1 register.
  Wire.write(0b10001000);               // DEVICE_RESET, TEMP_DIS.
  Wire.endTransmission();
  delay(100);                           // Wait for reset to complete.

  Wire.beginTransmission(IMUAddress);   // Device address.
  Wire.write(0x68);                     // SIGNAL_PATH_RESET register.
  Wire.write(0b00000111);               // GYRO_RESET, ACCEL_RESET, TEMP_RESET.
  Wire.endTransmission();
  delay(100);                           // Wait for reset to complete.

  Serial.println(F(" Done."));

  // Disable SLEEP mode because the reset re-enables it. Section 3, PWR_MGMT_1 register, page 8.
  Serial.print(F("Disabling sleep mode of MPU-6050..."));
  Wire.beginTransmission(IMUAddress);   // Device address.
  Wire.write(0x6B);                     // PWR_MGMT_1 register.
  Wire.write(0b00001000);               // SLEEP = 0, TEMP_DIS = 1.
  Wire.endTransmission();
  Serial.println(F(" Done."));

  //
  // Writing to gyro config register.
  //
  Serial.print(F("Configuring gyro of MPU-6050..."));
  Wire.beginTransmission(IMUAddress);   // Device address.
  Wire.write(0x1B);                     // GYRO_CONFIG register.
  Wire.write(0b00001000);               // +/-500 deg/s.
  Wire.endTransmission();
  Serial.println(F(" Done."));
}

typedef enum State
{
  Request,
  Wait,
  Read
};

bool readGyro()
{
  static State state = State::Request;

  switch (state)
  {
    case State::Request:
      // Request data from gyro data registers.
      Serial.print(F("Requesting data from gyro..."));
      Wire.beginTransmission(IMUAddress);   // Device address.
      Wire.write(0x43);                     // GYRO_XOUT_H register.
      Wire.endTransmission(false);          // Restart connection, i.e. keep alive.
      Wire.requestFrom(IMUAddress, 6);      // GYRO_XOUT_H, GYRO_XOUT_L, GYRO_YOUT_H, GYRO_YOUT_L, GYRO_ZOUT_H, GYRO_ZOUT_L.
      Serial.println(F(" Done."));
      state = State::Wait;
      Serial.print(F("Waiting for data from gyro..."));
      break;

    case State::Wait:
      // Wait for data to arrive into buffer.
      if(Wire.available() < 6)
      {
        //Serial.print(F("."));
        Serial.print(F(" "));
        Serial.print(Wire.available());  // Added to show bytes received.
      }
      else
      {
        Serial.print(F(" "));
        Serial.print(Wire.available());  // Added to show bytes received.
        Serial.println(F(" Done."));
        state = State::Read;
      }
      break;

    case State::Read:
      // Read data from gyro registers.
      Serial.print(F("Reading gyro data..."));
      gyroX = Wire.read() << 8 | Wire.read();
      gyroY = Wire.read() << 8 | Wire.read();
      gyroZ = Wire.read() << 8 | Wire.read();
      Serial.println(F(" Done."));
      state = State::Request;
      return true;  // Indicate data was received.
      break;
  }

  return false;  // Indicate no data received yet.
}

Update based upon RowanP’s answer

While concentrating on the software issues I missed a crucial piece of information from the other datasheet (MPU-6000/MPU-6050 Product Specification), i.e. the electrical characteristics in Sections 6.3 and 6.4 on pages 14 and 15 showing a Vdd range of 2.375 V to 3.46 V:

Electrical Characteristics of MPU-6050
Vdd power supply of MPU-6050

6.4 Electrical Specifications, Continued
Digital inputs and outputs of MPU-6050

This will require level shifters on the signals between the 3.3 V MPU-6050 and the 5 V Arduino.

Источник

Arduino Forum

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Источник

The problem

There is a bug in the MPU6050 component that prevents using some boards (see https://community.home-assistant.io/t/mpu6050-communication-with-mpu6050-failed/268114 and https://community.home-assistant.io/t/communication-with-mpu6050-failed/270449).

However, using this custom component works with all boards, including the problematic ones.

customGyro.h

#include "esphome.h"

class MPU6050 : public PollingComponent {

public:

Sensor *temperature = new Sensor();
Sensor *gyroscope = new Sensor();
Sensor *accelerometer = new Sensor();

float accelgyro_temperature = 0, accelgyro_accel = 0, accelgyro_gyro = 0;
const uint8_t MPU_addr = 0x68; // I2C address of the MPU-6050


MPU6050() : PollingComponent(1000) { }

void setup() override {
  Wire.begin();

  // default at power-up:
  //    Gyro at 250 degrees second
  //    Acceleration at 2g
  //    Clock source at internal 8MHz
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x6B);  // PWR_MGMT_1 register
  Wire.write(0);     // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);
}

void update() override {

// This is the actual sensor reading logic.

  int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr, 14, true); // request a total of 14 registers
  AcX = Wire.read() << 8 | Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
  AcY = Wire.read() << 8 | Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ = Wire.read() << 8 | Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp = Wire.read() << 8 | Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
  GyX = Wire.read() << 8 | Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY = Wire.read() << 8 | Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ = Wire.read() << 8 | Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
  
  accelgyro_accel = (sqrt((float)AcX * AcX + (float)AcY * AcY + (float)AcZ * AcZ) / 32768.) * 2.; // [G]
  accelgyro_gyro = (sqrt((float)GyX * GyX + (float)GyY * GyY + (float)GyZ * GyZ) / 32768.) * 250.; // [deg/s]
  accelgyro_temperature = Tmp / 340. + 36.53; //equation for temperature in degrees C from datasheet

  temperature->publish_state(accelgyro_temperature);
  gyroscope->publish_state(accelgyro_gyro);
  accelerometer->publish_state(accelgyro_accel);

}

};

YAML

esphome:
  includes:
    - customGyro.h

sensor:
  - platform: custom
    lambda: |-
      auto mlx = new MPU6050();
      App.register_component(mlx);
      return {mlx->temperature, mlx->gyroscope, mlx->accelerometer};
    sensors:
      - name: "IMU temperature"
        unit_of_measurement: °C
        accuracy_decimals: 2
      - name: "IMU gyroscope"
        unit_of_measurement: "deg/s"
        accuracy_decimals: 4
      - name: "IMU accelerometer"
        unit_of_measurement: "G"
        accuracy_decimals: 4

What is version of ESPHome has the issue?

v1.20.0

What type of installation are you using?

Home Assistant Add-on

What platform are you using?

ESP32

Component causing the issue

The affected component is https://github.com/esphome/esphome/blob/dev/esphome/components/mpu6050/mpu6050.cpp

Источник

Offline

Зарегистрирован: 21.04.2022

Использую Visual Studio — Platformio

Хочу повторить проект из этого источника : https://habr.com/ru/post/575662/

После того как я скачал исходники, была проблема с библиотеками. В плане того, что их не было в проекте. После установки пачки библиотек из этого репозитория (https://github.com/pkourany/I2CDEV_MPU6050?utm_source=platformio&utm_med…)

Выходит такая ошибка 

In file included from src\main.cpp:4:0:

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h: In member function ‘uint8_t MPU6050::dmpInitialize()’:

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:504:21: warning: variable ‘mpuIntStatus’ set but not used [-Wunused-but-set-variable]

             uint8_t mpuIntStatus = getIntStatus();

                     ^~~~~~~~~~~~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:354:13: warning: unused variable ‘hwRevision’ [-Wunused-variable]

     uint8_t hwRevision = readMemoryByte();

             ^~~~~~~~~~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:362:13: warning: unused variable ‘otpValid’ [-Wunused-variable]

     uint8_t otpValid = getOTPBankValid();

             ^~~~~~~~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h: In member function ‘uint8_t MPU6050::dmpGetAccel(int32_t*, const uint8_t*)’:

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:587:31: warning: left shift count >= width of type [-Wshift-count-overflow]  

     data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]);

                               ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:587:52: warning: left shift count >= width of type [-Wshift-count-overflow]

     data[0] = ((packet[28] << 24) + (packet[29] << 16) + (packet[30] << 8) + packet[31]);

                                                    ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:588:31: warning: left shift count >= width of type [-Wshift-count-overflow]  

     data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]);

                               ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:588:52: warning: left shift count >= width of type [-Wshift-count-overflow]  

     data[1] = ((packet[32] << 24) + (packet[33] << 16) + (packet[34] << 8) + packet[35]);

                                                    ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:589:31: warning: left shift count >= width of type [-Wshift-count-overflow]  

     data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]);

                               ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:589:52: warning: left shift count >= width of type [-Wshift-count-overflow]  

     data[2] = ((packet[36] << 24) + (packet[37] << 16) + (packet[38] << 8) + packet[39]);

                                                    ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h: In member function ‘uint8_t MPU6050::dmpGetQuaternion(int32_t*, const uint8_t*)’:

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:611:30: warning: left shift count >= width of type [-Wshift-count-overflow]  

     data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);

                              ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:611:50: warning: left shift count >= width of type [-Wshift-count-overflow]  

     data[0] = ((packet[0] << 24) + (packet[1] << 16) + (packet[2] << 8) + packet[3]);

                                                  ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:612:30: warning: left shift count >= width of type [-Wshift-count-overflow]

     data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);

                              ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:612:50: warning: left shift count >= width of type [-Wshift-count-overflow]  

     data[1] = ((packet[4] << 24) + (packet[5] << 16) + (packet[6] << 8) + packet[7]);

                                                  ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:613:30: warning: left shift count >= width of type [-Wshift-count-overflow]  

     data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);

                              ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:613:50: warning: left shift count >= width of type [-Wshift-count-overflow]

     data[2] = ((packet[8] << 24) + (packet[9] << 16) + (packet[10] << 8) + packet[11]);

                                                  ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:614:31: warning: left shift count >= width of type [-Wshift-count-overflow]

     data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);

                               ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:614:52: warning: left shift count >= width of type [-Wshift-count-overflow]

     data[3] = ((packet[12] << 24) + (packet[13] << 16) + (packet[14] << 8) + packet[15]);

                                                    ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h: In member function ‘uint8_t MPU6050::dmpGetGyro(int32_t*, const uint8_t*)’: 

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:644:31: warning: left shift count >= width of type [-Wshift-count-overflow]

     data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);

                               ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:644:52: warning: left shift count >= width of type [-Wshift-count-overflow]  

     data[0] = ((packet[16] << 24) + (packet[17] << 16) + (packet[18] << 8) + packet[19]);

                                                    ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:645:31: warning: left shift count >= width of type [-Wshift-count-overflow]

     data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);

                               ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:645:52: warning: left shift count >= width of type [-Wshift-count-overflow]

     data[1] = ((packet[20] << 24) + (packet[21] << 16) + (packet[22] << 8) + packet[23]);

                                                    ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:646:31: warning: left shift count >= width of type [-Wshift-count-overflow]

     data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);

                               ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:646:52: warning: left shift count >= width of type [-Wshift-count-overflow]

     data[2] = ((packet[24] << 24) + (packet[25] << 16) + (packet[26] << 8) + packet[27]);

                                                    ^~

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h: In member function ‘uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t, uint8_t*)’:

.pio\libdeps\nanoatmega328\MPU6050\src/MPU6050_6Axis_MotionApps20.h:738:29: warning: value computed is not used [-Wunused-value]

         if (processed != 0) *processed++;

                             ^~~~~~~~~~~~

src\main.cpp: At global scope:

src\main.cpp:78:44: warning: large integer implicitly truncated to unsigned type [-Woverflow]

 volatile unsigned long ticksPerPulseLeft = UINT64_MAX;

                                            ^~~~~~~~~~

src\main.cpp:79:45: warning: large integer implicitly truncated to unsigned type [-Woverflow]

 volatile unsigned long ticksPerPulseRight = UINT64_MAX;

                                             ^~~~~~~~~~

src\main.cpp: In function ‘bool mpuUpdate()’:

src\main.cpp:170:27: error: ‘class MPU6050’ has no member named ‘dmpGetCurrentFIFOPacket’; did you mean ‘dmpProcessFIFOPacket’?

   if (mpuInterrupt && mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {

                           ^~~~~~~~~~~~~~~~~~~~~~~

                           dmpProcessFIFOPacket

src\main.cpp: In function ‘long unsigned int getTicksPerPulse(float)’:

src\main.cpp:183:12: warning: large integer implicitly truncated to unsigned type [-Woverflow]

     return UINT64_MAX;

            ^~~~~~~~~~

*** [.pio\build\nanoatmega328\src\main.cpp.o] Error 1

В ошибках пишет: класс «MPU6050» не содержит члена «dmpGetCurrentFIFOPacket»

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