As soon as the code finishes uploading, it says "cpu reset." in the output. It starts printing out some dots as it tries to connect to the wifi (as instructed) but it never manages to get far enough to actually do anything. I have attatched the code incase there is anything wrong with it.
I am using the arduino nano 33 iot.
#include <WiFi.h>
#include <Wire.h>
const char* ssid = "replace"; // Replace with your network SSID (name)
const char* password = "replace"; // Replace with your network password
const int MPU = 0x68; // MPU6050 I2C address
float AccX, AccY, AccZ;
float GyroX, GyroY, GyroZ;
float accAngleX, accAngleY, gyroAngleX, gyroAngleY, gyroAngleZ;
float roll, pitch, yaw;
float AccErrorX, AccErrorY, GyroErrorX, GyroErrorY, GyroErrorZ;
float elapsedTime, currentTime, previousTime;
int c = 0;
void setup() {
// Start the serial communication to display the connection status
Serial.begin(115200); //115200 baud
delay(100);
// Attempt to connect to WiFi network
Serial.print("Connecting to ");
Serial.println(ssid);
WiFi.begin(ssid, password);
// Wait until the board is connected to the WiFi network
while (WiFi.status() != WL_CONNECTED) {
delay(1000);
Serial.print(".");
}
//if connection failed
if (WiFi.status() != WL_CONNECTED) {
Serial.println("Failed to connect to WiFi!");
return;
}
// When connected, print the IP address
Serial.println("");
Serial.println("WiFi connected.");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
Serial.begin(19200);
Wire.begin(); // Initialize communication
Wire.beginTransmission(MPU); // Start communication with MPU6050 // MPU=0x68
Wire.write(0x6B); // Talk to the register 6B
Wire.write(0x00); // Make reset - place a 0 into the 6B register
Wire.endTransmission(true); //end the transmission
/*
// Configure Accelerometer Sensitivity - Full Scale Range (default +/- 2g)
Wire.beginTransmission(MPU);
Wire.write(0x1C); //Talk to the ACCEL_CONFIG register (1C hex)
Wire.write(0x10); //Set the register bits as 00010000 (+/- 8g full scale range)
Wire.endTransmission(true);
// Configure Gyro Sensitivity - Full Scale Range (default +/- 250deg/s)
Wire.beginTransmission(MPU);
Wire.write(0x1B); // Talk to the GYRO_CONFIG register (1B hex)
Wire.write(0x10); // Set the register bits as 00010000 (1000deg/s full scale)
Wire.endTransmission(true);
delay(20);
*/
// Call this function if you need to get the IMU error values for your module
calculate_IMU_error();
delay(20);
}
void loop() {
// === Read accelerometer data === //
Wire.beginTransmission(MPU);
Wire.write(0x3B); // Start with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU, 6, true); // Read 6 registers total, each axis value is stored in 2 registers
//For a range of +-2g, we need to divide the raw values by 16384, according to the datasheet
AccX = (Wire.read() << 8 | Wire.read()) / 16384.0; // X-axis value
AccY = (Wire.read() << 8 | Wire.read()) / 16384.0; // Y-axis value
AccZ = (Wire.read() << 8 | Wire.read()) / 16384.0; // Z-axis value
// Calculating Roll and Pitch from the accelerometer data
accAngleX = (atan(AccY / sqrt(pow(AccX, 2) + pow(AccZ, 2))) * 180 / PI) - 0.58; // AccErrorX ~(0.58) See the calculate_IMU_error()custom function for more details
accAngleY = (atan(-1 * AccX / sqrt(pow(AccY, 2) + pow(AccZ, 2))) * 180 / PI) + 1.58; // AccErrorY ~(-1.58)
// === Read gyroscope data === //
previousTime = currentTime; // Previous time is stored before the actual time read
currentTime = millis(); // Current time actual time read
elapsedTime = (currentTime - previousTime) / 1000; // Divide by 1000 to get seconds
Wire.beginTransmission(MPU);
Wire.write(0x43); // Gyro data first register address 0x43
Wire.endTransmission(false);
Wire.requestFrom(MPU, 6, true); // Read 4 registers total, each axis value is stored in 2 registers
GyroX = (Wire.read() << 8 | Wire.read()) / 131.0; // For a 250deg/s range we have to divide first the raw value by 131.0, according to the datasheet
GyroY = (Wire.read() << 8 | Wire.read()) / 131.0;
GyroZ = (Wire.read() << 8 | Wire.read()) / 131.0;
// Correct the outputs with the calculated error values
GyroX = GyroX + 0.56; // GyroErrorX ~(-0.56)
GyroY = GyroY - 2; // GyroErrorY ~(2)
GyroZ = GyroZ + 0.79; // GyroErrorZ ~ (-0.8)
// Currently the raw values are in degrees per seconds, deg/s, so we need to multiply by second (s) to get the angle in degrees
gyroAngleX = gyroAngleX + GyroX * elapsedTime; // deg/s * s = deg
gyroAngleY = gyroAngleY + GyroY * elapsedTime;
yaw = yaw + GyroZ * elapsedTime;
// Complementary filter - combine accelerometer and gyro angle values
roll = 0.96 * gyroAngleX + 0.04 * accAngleX;
pitch = 0.96 * gyroAngleY + 0.04 * accAngleY;
// Print the values on the serial monitor
Serial.print(roll);
Serial.print(",");
Serial.print(pitch);
Serial.print(",");
Serial.println(yaw);
}
void calculate_IMU_error() {
// We can call this function in the setup section to calculate the accelerometer and gyro data error. From here we will get the error values used in the above equations printed on the Serial Monitor.
// Note that we should place the IMU flat in order to get the proper values, so that we then can the correct values
// Read accelerometer values 200 times
while (c < 200) {
Wire.beginTransmission(MPU);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU, 6, true);
AccX = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
AccY = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
AccZ = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
// Sum all readings
AccErrorX = AccErrorX + ((atan((AccY) / sqrt(pow((AccX), 2) + pow((AccZ), 2))) * 180 / PI));
AccErrorY = AccErrorY + ((atan(-1 * (AccX) / sqrt(pow((AccY), 2) + pow((AccZ), 2))) * 180 / PI));
c++;
}
//Divide the sum by 200 to get the error value
AccErrorX = AccErrorX / 200;
AccErrorY = AccErrorY / 200;
c = 0;
// Read gyro values 200 times
while (c < 200) {
Wire.beginTransmission(MPU);
Wire.write(0x43);
Wire.endTransmission(false);
Wire.requestFrom(MPU, 6, true);
GyroX = Wire.read() << 8 | Wire.read();
GyroY = Wire.read() << 8 | Wire.read();
GyroZ = Wire.read() << 8 | Wire.read();
// Sum all readings
GyroErrorX = GyroErrorX + (GyroX / 131.0);
GyroErrorY = GyroErrorY + (GyroY / 131.0);
GyroErrorZ = GyroErrorZ + (GyroZ / 131.0);
c++;
}
//Divide the sum by 200 to get the error value
GyroErrorX = GyroErrorX / 200;
GyroErrorY = GyroErrorY / 200;
GyroErrorZ = GyroErrorZ / 200;
// Print the error values on the Serial Monitor
Serial.print("AccErrorX: ");
Serial.println(AccErrorX);
Serial.print("AccErrorY: ");
Serial.println(AccErrorY);
Serial.print("GyroErrorX: ");
Serial.println(GyroErrorX);
Serial.print("GyroErrorY: ");
Serial.println(GyroErrorY);
Serial.print("GyroErrorZ: ");
Serial.println(GyroErrorZ);
}