# Error porting MPU6050 library **URL:** \ **Category:** Peripherals\ **Created:** [January 3, 2022, 7:40am UTC](https://forum.amebaiot.com/t/error-porting-mpu6050-library/1016 "2022-01-03T07:40:02Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![john7](https://avatars.discourse-cdn.com/v4/letter/j/e68b1a/32.png) [@john7](https://forum.amebaiot.com/u/john7)\ **Post date:** [January 3, 2022, 7:40am UTC](https://forum.amebaiot.com/t/error-porting-mpu6050-library/1016/1 "2022-01-03T07:40:02Z")
The library itself compiled good. But when I try to use it ```auto 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? ---
**Author:** ![wyy](https://avatars.discourse-cdn.com/v4/letter/w/bc8723/32.png) [@wyy](https://forum.amebaiot.com/u/wyy)\ **Post date:** [January 3, 2022, 9:01am UTC](https://forum.amebaiot.com/t/error-porting-mpu6050-library/1016/2 "2022-01-03T09:01:00Z")
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. ---
**Author:** ![john7](https://avatars.discourse-cdn.com/v4/letter/j/e68b1a/32.png) [@john7](https://forum.amebaiot.com/u/john7)\ **Post date:** [January 3, 2022, 9:42am UTC](https://forum.amebaiot.com/t/error-porting-mpu6050-library/1016/3 "2022-01-03T09:42:48Z")
Well…I commented out all lines in mcp6050.cpp and started to include line by line. The error appears at #include “I2Cdev.h” ```auto #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 #endif #if I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE #include #endif #if I2CDEV_IMPLEMENTATION == I2CDEV_I2CMASTER_LIBRARY #include #endif #if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE #include "SBWire.h" #endif #endif #ifdef SPARK #include #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_ */ ``` ---
**Author:** ![john7](https://avatars.discourse-cdn.com/v4/letter/j/e68b1a/32.png) [@john7](https://forum.amebaiot.com/u/john7)\ **Post date:** [January 4, 2022, 6:40am UTC](https://forum.amebaiot.com/t/error-porting-mpu6050-library/1016/4 "2022-01-04T06:40:42Z")
Do we have a MPU6050 library ported to Ameba? ---
**Author:** ![wyy](https://avatars.discourse-cdn.com/v4/letter/w/bc8723/32.png) [@wyy](https://forum.amebaiot.com/u/wyy)\ **Post date:** [January 4, 2022, 9:17am UTC](https://forum.amebaiot.com/t/error-porting-mpu6050-library/1016/5 "2022-01-04T09:17:53Z")
There is no existing port for the MPU6050. It should be relatively straightforward to do if it is just using I2C or SPI.