Arduino IDE throws warning messages for MPU6050

subashbaskaran · July 21, 2021, 11:24am

Hello,
I currently working on a project in which I need to find Pitch & Roll. So, I decided to use MPU6050 (GY-521) breakout board. For this I decided to use jrowberg / i2cdevlib library. When I tried to use included library MPU6050_DMP6_using_DMP_V6.12 IDE shows some bunch of error (included below) but the code uploads to Arduino Nano. What is these errors means? How to clear the errors?

Anything will be helpful...

Example I used:

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v6.12)
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
//      2019-07-10 - Uses the new version of the DMP Firmware V6.12
//                 - Note: I believe the Teapot demo is broken with this versin as
//                 - the fifo buffer structure has changed
//      2016-04-18 - Eliminated a potential infinite loop
//      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_MotionApps_V6_12.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif

// 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 INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13 // (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 gy;         // [x, y, z]            gyro 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)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
  Wire.begin();
  Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
  Fastwire::setup(400, true);
#endif

  // 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); // wait for Leonardo enumeration, others continue immediately

  // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
  // 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(F("Initializing I2C devices..."));
  mpu.initialize();
  pinMode(INTERRUPT_PIN, INPUT);

  // verify connection
  Serial.println(F("Testing device connections..."));
  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

  // wait for ready
  Serial.println(F("\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(F("Initializing DMP..."));
  devStatus = mpu.dmpInitialize();

  // supply your own gyro offsets here, scaled for min sensitivity
  mpu.setXGyroOffset(51);
  mpu.setYGyroOffset(8);
  mpu.setZGyroOffset(21);
  mpu.setXAccelOffset(1150);
  mpu.setYAccelOffset(-50);
  mpu.setZAccelOffset(1060);
  // make sure it worked (returns 0 if so)
  if (devStatus == 0) {
    // Calibration Time: generate offsets and calibrate our MPU6050
    mpu.CalibrateAccel(6);
    mpu.CalibrateGyro(6);
    Serial.println();
    mpu.PrintActiveOffsets();
    // turn on the DMP, now that it's ready
    Serial.println(F("Enabling DMP..."));
    mpu.setDMPEnabled(true);

    // enable Arduino interrupt detection
    Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
    Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
    Serial.println(F(")..."));
    attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
    mpuIntStatus = mpu.getIntStatus();

    // set our DMP Ready flag so the main loop() function knows it's okay to use it
    Serial.println(F("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(F("DMP Initialization failed (code "));
    Serial.print(devStatus);
    Serial.println(F(")"));
  }

  // 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;
  // read a packet from FIFO
  if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet 

#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.print(ypr[2] * 180 / M_PI);
    /*
      mpu.dmpGetAccel(&aa, fifoBuffer);
      Serial.print("\tRaw Accl XYZ\t");
      Serial.print(aa.x);
      Serial.print("\t");
      Serial.print(aa.y);
      Serial.print("\t");
      Serial.print(aa.z);
      mpu.dmpGetGyro(&gy, fifoBuffer);
      Serial.print("\tRaw Gyro XYZ\t");
      Serial.print(gy.x);
      Serial.print("\t");
      Serial.print(gy.y);
      Serial.print("\t");
      Serial.print(gy.z);
    */
    Serial.println();

#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);
  }
}

Error/Warning Messages:

In file included from C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\examples\MPU6050_DMP6_using_DMP_V6.12\MPU6050_DMP6_using_DMP_V6.12.ino:52:0:
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050_6Axis_MotionApps_V6_12.h: In member function 'uint8_t MPU6050::dmpGetGravity(int16_t*, const uint8_t*)':
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050_6Axis_MotionApps_V6_12.h:524:65: warning: integer overflow in expression [-Woverflow]
         - (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
                                                               ~~^~~~~~~
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: warning: type 'struct MPU6050' violates the C++ One Definition Rule [-Wodr]
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: a different type is defined in another translation unit
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:1041:18: note: the first difference of corresponding definitions is field 'dmpPacketBuffer'
         uint8_t *dmpPacketBuffer;
                  ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: a type with different number of fields is defined in another translation unit
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:445:14: warning: 'initialize' violates the C++ One Definition Rule  [-Wodr]
         void initialize();
              ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:56:6: note: implicit this pointer type mismatch
 void MPU6050::initialize() {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:56:6: note: 'initialize' was previously declared here
 void MPU6050::initialize() {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:56:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:446:14: warning: 'testConnection' violates the C++ One Definition Rule  [-Wodr]
         bool testConnection();
              ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:67:6: note: implicit this pointer type mismatch
 bool MPU6050::testConnection() {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:67:6: note: 'testConnection' was previously declared here
 bool MPU6050::testConnection() {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:67:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:772:14: warning: 'setXGyroOffset' violates the C++ One Definition Rule  [-Wodr]
         void setXGyroOffset(int16_t offset);
              ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2929:6: note: implicit this pointer type mismatch
 void MPU6050::setXGyroOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2929:6: note: 'setXGyroOffset' was previously declared here
 void MPU6050::setXGyroOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2929:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:776:14: warning: 'setYGyroOffset' violates the C++ One Definition Rule  [-Wodr]
         void setYGyroOffset(int16_t offset);
              ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2939:6: note: implicit this pointer type mismatch
 void MPU6050::setYGyroOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2939:6: note: 'setYGyroOffset' was previously declared here
 void MPU6050::setYGyroOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2939:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:780:14: warning: 'setZGyroOffset' violates the C++ One Definition Rule  [-Wodr]
         void setZGyroOffset(int16_t offset);
              ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2949:6: note: implicit this pointer type mismatch
 void MPU6050::setZGyroOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2949:6: note: 'setZGyroOffset' was previously declared here
 void MPU6050::setZGyroOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2949:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:760:14: warning: 'setXAccelOffset' violates the C++ One Definition Rule  [-Wodr]
         void setXAccelOffset(int16_t offset);
              ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2894:6: note: implicit this pointer type mismatch
 void MPU6050::setXAccelOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2894:6: note: 'setXAccelOffset' was previously declared here
 void MPU6050::setXAccelOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2894:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:764:14: warning: 'setYAccelOffset' violates the C++ One Definition Rule  [-Wodr]
         void setYAccelOffset(int16_t offset);
              ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2906:6: note: implicit this pointer type mismatch
 void MPU6050::setYAccelOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2906:6: note: 'setYAccelOffset' was previously declared here
 void MPU6050::setYAccelOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2906:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:768:14: warning: 'setZAccelOffset' violates the C++ One Definition Rule  [-Wodr]
         void setZAccelOffset(int16_t offset);
              ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2918:6: note: implicit this pointer type mismatch
 void MPU6050::setZAccelOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2918:6: note: 'setZAccelOffset' was previously declared here
 void MPU6050::setZAccelOffset(int16_t offset) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2918:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:831:8: warning: 'CalibrateAccel' violates the C++ One Definition Rule  [-Wodr]
   void CalibrateAccel(uint8_t Loops = 15);// Fine tune after setting offsets with less Loops.
        ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3276:6: note: implicit this pointer type mismatch
 void MPU6050::CalibrateAccel(uint8_t Loops ) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3276:6: note: 'CalibrateAccel' was previously declared here
 void MPU6050::CalibrateAccel(uint8_t Loops ) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3276:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:830:8: warning: 'CalibrateGyro' violates the C++ One Definition Rule  [-Wodr]
   void CalibrateGyro(uint8_t Loops = 15); // Fine tune after setting offsets with less Loops.
        ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3262:6: note: implicit this pointer type mismatch
 void MPU6050::CalibrateGyro(uint8_t Loops ) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3262:6: note: 'CalibrateGyro' was previously declared here
 void MPU6050::CalibrateGyro(uint8_t Loops ) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3262:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:833:8: warning: 'PrintActiveOffsets' violates the C++ One Definition Rule  [-Wodr]
   void PrintActiveOffsets(); // See the results of the Calibration
        ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3350:6: note: implicit this pointer type mismatch
 void MPU6050::PrintActiveOffsets() {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3350:6: note: 'PrintActiveOffsets' was previously declared here
 void MPU6050::PrintActiveOffsets() {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3350:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:618:17: warning: 'getIntStatus' violates the C++ One Definition Rule  [-Wodr]
         uint8_t getIntStatus();
                 ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:1679:9: note: implicit this pointer type mismatch
 uint8_t MPU6050::getIntStatus() {
         ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:1679:9: note: 'getIntStatus' was previously declared here
 uint8_t MPU6050::getIntStatus() {
         ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:1679:9: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:722:10: warning: 'GetCurrentFIFOPacket' violates the C++ One Definition Rule  [-Wodr]
   int8_t GetCurrentFIFOPacket(uint8_t *data, uint8_t length);
          ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2751:9: note: implicit this pointer type mismatch
  int8_t MPU6050::GetCurrentFIFOPacket(uint8_t *data, uint8_t length) { // overflow proof
         ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2751:9: note: 'GetCurrentFIFOPacket' was previously declared here
  int8_t MPU6050::GetCurrentFIFOPacket(uint8_t *data, uint8_t length) { // overflow proof
         ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2751:9: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:724:14: warning: 'getFIFOBytes' violates the C++ One Definition Rule  [-Wodr]
         void getFIFOBytes(uint8_t *data, uint8_t length);
              ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2736:6: note: implicit this pointer type mismatch
 void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2736:6: note: 'getFIFOBytes' was previously declared here
 void MPU6050::getFIFOBytes(uint8_t *data, uint8_t length) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2736:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:718:18: warning: 'getFIFOCount' violates the C++ One Definition Rule  [-Wodr]
         uint16_t getFIFOCount();
                  ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2700:10: note: implicit this pointer type mismatch
 uint16_t MPU6050::getFIFOCount() {
          ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2700:10: note: 'getFIFOCount' was previously declared here
 uint16_t MPU6050::getFIFOCount() {
          ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:2700:10: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:816:14: warning: 'writeProgMemoryBlock' violates the C++ One Definition Rule  [-Wodr]
         bool writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank=0, uint8_t address=0, bool verify=true);
              ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3152:6: note: implicit this pointer type mismatch
 bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3152:6: note: 'writeProgMemoryBlock' was previously declared here
 bool MPU6050::writeProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address, bool verify) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3152:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:802:14: warning: 'setDMPEnabled' violates the C++ One Definition Rule  [-Wodr]
         void setDMPEnabled(bool enabled);
              ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3014:6: note: implicit this pointer type mismatch
 void MPU6050::setDMPEnabled(bool enabled) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3014:6: note: 'setDMPEnabled' was previously declared here
 void MPU6050::setDMPEnabled(bool enabled) {
      ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:3014:6: note: code may be misoptimized unless -fno-strict-aliasing is used
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:443:9: warning: '__comp_ctor ' violates the C++ One Definition Rule  [-Wodr]
         MPU6050(uint8_t address=MPU6050_DEFAULT_ADDRESS);
         ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:46:1: note: implicit this pointer type mismatch
 MPU6050::MPU6050(uint8_t address):devAddr(address) {
 ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.h:441:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg/MPU6050.h:441:7: note: the incompatible type is defined here
 class MPU6050 {
       ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:46:1: note: '__comp_ctor ' was previously declared here
 MPU6050::MPU6050(uint8_t address):devAddr(address) {
 ^
C:\Users\Suvetha Mukilan\Documents\Arduino\libraries\MPU6050_Jrowberg\MPU6050.cpp:46:1: note: code may be misoptimized unless -fno-strict-aliasing is used
Sketch uses 18238 bytes (59%) of program storage space. Maximum is 30720 bytes.
Global variables use 561 bytes (27%) of dynamic memory, leaving 1487 bytes for local variables. Maximum is 2048 bytes.

For Reference:
Board : Arduino Nano ( ATmega328P Old bootloader)
Arduino IDE Version: 1.8.15

Thanks

jremington · July 21, 2021, 1:53pm

Elementary pitch and roll code for the MPU-6050:

// minimal MPU-6050 tilt and roll (sjr). Works with MPU-9250 too.
// works perfectly with GY-521, pitch and roll signs agree with arrows on sensor module 7/2019
//
// Tested with 3.3V eBay Pro Mini with no external pullups on I2C bus (worked with internal pullups)
// Add 4.7K pullup resistors to 3.3V if required. A4 = SDA, A5 = SCL

#include<Wire.h>
const int MPU_addr1 = 0x68;
float xa, ya, za, roll, pitch;

void setup() {

  Wire.begin();                                      //begin the wire communication
  Wire.beginTransmission(MPU_addr1);                 //begin, send the slave adress (in this case 68)
  Wire.write(0x6B);                                  //make the reset (place a 0 into the 6B register)
  Wire.write(0);
  Wire.endTransmission(true);                        //end the transmission
  Serial.begin(9600);
}

void loop() {

  Wire.beginTransmission(MPU_addr1);
  Wire.write(0x3B);  //send starting register address, accelerometer high byte
  Wire.endTransmission(false); //restart for read
  Wire.requestFrom(MPU_addr1, 6); //get six bytes accelerometer data
  int t = Wire.read();
  xa = (t << 8) | Wire.read();
  t = Wire.read();
  ya = (t << 8) | Wire.read();
  t = Wire.read();
  za = (t << 8) | Wire.read();
// formula from https://wiki.dfrobot.com/How_to_Use_a_Three-Axis_Accelerometer_for_Tilt_Sensing
  roll = atan2(ya , za) * 180.0 / PI;
  pitch = atan2(-xa , sqrt(ya * ya + za * za)) * 180.0 / PI; //account for roll already applied

  Serial.print("roll = ");
  Serial.print(roll,1);
  Serial.print(", pitch = ");
  Serial.println(pitch,1);
  delay(400);
}

system · November 18, 2021, 1:53pm

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Arduino IDE throws warning messages for MPU6050

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