Error porting MPU6050 library

Technical Discussion Arduino SDK
1

The library itself compiled good. But when I try to use it

MPU6050 mpu;

void MPU6050_Calibrate(uint8_t iterations)
{
    mpu.setXAccelOffset(0);
    mpu.setYAccelOffset(0);
    mpu.setZAccelOffset(0);
    mpu.setXGyroOffset(0);
    mpu.setYGyroOffset(0);
    mpu.setZGyroOffset(0);
    
    mpu.CalibrateAccel(6);
    mpu.CalibrateGyro(6); 
}

I get the error

In file included from G:\Sloeber\arduinoPlugin\packages\realtek\hardware\AmebaD\3.1.0\system/component/common/api/platform/platform_stdlib_rtl8721d.h:23:0,
from G:\Sloeber\arduinoPlugin\packages\realtek\hardware\AmebaD\3.1.0\system/component/common/api/platform/platform_stdlib.h:39,
from G:\Sloeber\arduinoPlugin\packages\realtek\hardware\AmebaD\3.1.0\system/component/common/api/network/include/lwipopts.h:13,
from G:\Sloeber\arduinoPlugin\packages\realtek\hardware\AmebaD\3.1.0\system/component/common/network/lwip/lwip_v2.0.2/src/include/lwip/opt.h:51,
from G:\Sloeber\arduinoPlugin\packages\realtek\hardware\AmebaD\3.1.0\system/component/common/network/lwip/lwip_v2.0.2/src/include/lwip/debug.h:41,
from …\sensors\mpu6050.cpp:5:
g:\sloeber\arduinoplugin\packages\realtek\tools\ameba_d_asdk_toolchain\1.0.1\arm-none-eabi\include\ctype.h:14:5: error: expected unqualified-id before ‘int’
int _EXFUN(isalpha, (int __c));
^
g:\sloeber\arduinoplugin\packages\realtek\tools\ameba_d_asdk_toolchain\1.0.1\arm-none-eabi\include\ctype.h:14:5: error: expected ‘)’ before ‘int’
g:\sloeber\arduinoplugin\packages\realtek\tools\ameba_d_asdk_toolchain\1.0.1\arm-none-eabi\include\ctype.h:14:5: error: expected ‘)’ before ‘int’
g:\sloeber\arduinoplugin\packages\realtek\tools\ameba_d_asdk_toolchain\1.0.1\arm-none-eabi\include\ctype.h:14:5: error: expected ‘)’ before ‘int’
int _EXFUN(isdigit, (int __c));

What can cause the problem?

2

Hi @john7

it looks like a conflict between the mpu6050 library and existing an #define in the RTL8722DM core, probably cause by _EXFUN or isdigit. I would recommend going through the mpu6050 library, checking to see if int _EXFUN(isdigit, (int __c)); is used in any critical code sections, and trying to either comment out or modifying the line.

3

Well…I commented out all lines in mcp6050.cpp and started to include line by line.
The error appears at #include “I2Cdev.h”

#ifndef _I2CDEV_H_
#define _I2CDEV_H_

// -----------------------------------------------------------------------------
// I2C interface implementation setting
// -----------------------------------------------------------------------------
#ifndef I2CDEV_IMPLEMENTATION
#define I2CDEV_IMPLEMENTATION       I2CDEV_ARDUINO_WIRE
//#define I2CDEV_IMPLEMENTATION       I2CDEV_TEENSY_3X_WIRE
//#define I2CDEV_IMPLEMENTATION       I2CDEV_BUILTIN_SBWIRE
//#define I2CDEV_IMPLEMENTATION       I2CDEV_BUILTIN_FASTWIRE
#endif // I2CDEV_IMPLEMENTATION

// comment this out if you are using a non-optimal IDE/implementation setting
// but want the compiler to shut up about it
#define I2CDEV_IMPLEMENTATION_WARNINGS

// -----------------------------------------------------------------------------
// I2C interface implementation options
// -----------------------------------------------------------------------------
#define I2CDEV_ARDUINO_WIRE         1 // Wire object from Arduino
#define I2CDEV_BUILTIN_NBWIRE       2 // Tweaked Wire object from Gene Knight's NBWire project
                                      // ^^^ NBWire implementation is still buggy w/some interrupts!
#define I2CDEV_BUILTIN_FASTWIRE     3 // FastWire object from Francesco Ferrara's project
#define I2CDEV_I2CMASTER_LIBRARY    4 // I2C object from DSSCircuits I2C-Master Library at https://github.com/DSSCircuits/I2C-Master-Library
#define I2CDEV_BUILTIN_SBWIRE	    5 // I2C object from Shuning (Steve) Bian's SBWire Library at https://github.com/freespace/SBWire 
#define I2CDEV_TEENSY_3X_WIRE       6 // Teensy 3.x support using i2c_t3 library

// -----------------------------------------------------------------------------
// Arduino-style "Serial.print" debug constant (uncomment to enable)
// -----------------------------------------------------------------------------
//#define I2CDEV_SERIAL_DEBUG

#ifdef ARDUINO
    #if ARDUINO < 100
        #include "WProgram.h"
    #else
        #include "Arduino.h"
    #endif
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        #include <Wire.h>
    #endif
    #if I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE
        #include <i2c_t3.h>
    #endif
    #if I2CDEV_IMPLEMENTATION == I2CDEV_I2CMASTER_LIBRARY
        #include <I2C.h>
    #endif
    #if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE
        #include "SBWire.h"
    #endif
#endif

#ifdef SPARK
    #include <spark_wiring_i2c.h>
    #define ARDUINO 101
#endif


// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
#define I2CDEV_DEFAULT_READ_TIMEOUT     1000

class I2Cdev {
    public:
        I2Cdev();

        static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
        static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
        static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
        static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
        static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
        static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
        static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
        static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);

        static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
        static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
        static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
        static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
        static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
        static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
        static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
        static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);

        static uint16_t readTimeout;
};
#endif /* _I2CDEV_H_ */
4

Do we have a MPU6050 library ported to Ameba?

5

There is no existing port for the MPU6050. It should be relatively straightforward to do if it is just using I2C or SPI.