使用MPU6050加速度计/陀螺仪模块

Question

我正在用Arduino Mega测试我的MPU6050模块 。 我发现Jeff Rowberg为此编写了一个库。 我尝试了他提供的这个例子 。 但是，Arduino IDE在尝试验证草图时会出现大量错误。

我已经安装了Jeffs库。 （下图显示了库内容）

这是我得到的错误：

In file included from C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:42,
                 from sketch_dec08a.cpp:50:
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050.h:792: warning: only initialized variables can be placed into program memory area
In file included from sketch_dec08a.cpp:50:
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:89: warning: only initialized variables can be placed into program memory area
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:89: error: conflicting declaration 'const prog_uchar dmpMemory [1929]'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050.h:792: error: 'dmpMemory' has a previous declaration as 'prog_uchar dmpMemory [1929]'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:229: warning: only initialized variables can be placed into program memory area
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:271: warning: only initialized variables can be placed into program memory area
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:271: error: conflicting declaration 'const prog_uchar dmpUpdates [47]'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050.h:931: error: 'dmpUpdates' has a previous declaration as 'uint8_t dmpUpdates [29][9]'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:281: error: no 'uint8_t MPU6050::dmpInitialize()' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:506: error: no 'bool MPU6050::dmpPacketAvailable()' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:533: error: no 'uint8_t MPU6050::dmpGetAccel(int32_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:541: error: no 'uint8_t MPU6050::dmpGetAccel(int16_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:549: error: no 'uint8_t MPU6050::dmpGetAccel(VectorInt16*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:557: error: no 'uint8_t MPU6050::dmpGetQuaternion(int32_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:566: error: no 'uint8_t MPU6050::dmpGetQuaternion(int16_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:575: error: no 'uint8_t MPU6050::dmpGetQuaternion(Quaternion*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:590: error: no 'uint8_t MPU6050::dmpGetGyro(int32_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:598: error: no 'uint8_t MPU6050::dmpGetGyro(int16_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:608: error: no 'uint8_t MPU6050::dmpGetLinearAccel(VectorInt16*, VectorInt16*, VectorFloat*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:616: error: no 'uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16*, VectorInt16*, Quaternion*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:628: error: no 'uint8_t MPU6050::dmpGetGravity(VectorFloat*, Quaternion*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:639: error: no 'uint8_t MPU6050::dmpGetEuler(float*, Quaternion*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:645: error: no 'uint8_t MPU6050::dmpGetYawPitchRoll(float*, Quaternion*, VectorFloat*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:658: error: no 'uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:668: error: no 'uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t, uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:693: error: no 'uint16_t MPU6050::dmpGetFIFOPacketSize()' member function declared in class 'MPU6050'
sketch_dec08a.cpp: In function 'void setup()':
sketch_dec08a.cpp:177: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:181: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:182: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:182: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:185: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:191: warning: only initialized variables can be placed into program memory area
sketch_dec08a:187: error: 'class MPU6050' has no member named 'dmpInitialize'
sketch_dec08a.cpp:197: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:201: warning: only initialized variables can be placed into program memory area
sketch_dec08a:198: error: 'class MPU6050' has no member named 'getIntStatus'
sketch_dec08a.cpp:206: warning: only initialized variables can be placed into program memory area
sketch_dec08a:205: error: 'class MPU6050' has no member named 'dmpGetFIFOPacketSize'
sketch_dec08a.cpp:216: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:218: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp: In function 'void loop()':
sketch_dec08a:246: error: 'class MPU6050' has no member named 'getIntStatus'
sketch_dec08a.cpp:260: warning: only initialized variables can be placed into program memory area
sketch_dec08a:263: error: 'class MPU6050' has no member named 'getFIFOBytes'

我该如何克服呢？

我一直在努力使用此设备获取加速度/陀螺仪值。 但是仍然没有成功。

---

编辑

这就是我尝试编译（验证）时得到的。

Answer 1

Jeff提供的MPU6050_DMP6示例对我有用。 从编译错误来看，您似乎包含了MPU6050.h，而不是MPU6050_6Axis_MotionApps20.h。 确保您包括正确的一个。

如果查看库代码 ，则会注意到MPU6050.cpp文件中未实现.dmp_ _ _方法，而MPU6050_6Axis_MotionApps20.h文件中未实现。 如果这样做不能解决问题，请发布您的代码。

Answer 2

尝试将jeffs i2c .cpp和.h文件放入与mpu6050库文件相同的文件夹中，我发现这样对我有用，对不起，如果晚了一点，但希望对您有所帮助：P

Answer 3

我遇到了同样的问题，结果发现我同时包含MPU6050.h和MPU6050_6Axis_MotionApps20.h。 我注释掉了MPU6050.h，现在可以正常编译。 似乎前者超越了后者。

Answer 4

我已经通过将I2Cdev.cpp和I2C.h放在MPU6050库文件夹中解决了编译问题。 （注意：这些是dev文件）。 这些是Jeff的库，可以在GitHub上找到