Errors in a code with I2C, TimerOne and User defined USART Receive Interrupt

Projects Programming
1

Hi All

I am working on MPU6050 sensor integration with Arduino Uno and I have started up building a project around it (mpu-6050.zip file attached).

For that, I am using standard MPU6050 and I2Cdev libraries. I do not want to use the builtin Arduino library of Serial. I am defining own USART Receive interrupt.

Here is my start up mpu-6050.ino code for testing:

#include <avr/interrupt.h>
#include <avr/io.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include <EEPROM.h>
#include <stdbool.h>
#include "TimerOne.h"
#include "I2Cdev.h"
#include "MPU6050.h"

#define USART_RXC_vect _VECTOR(18) // USART Rx Complete ISR

ISR(USART_RXC_vect)
{
}
void setup()
{
}

void loop()
{
}

While compiling this, I am getting following errors:

HardwareSerial0.cpp.o (symbol from plugin): In function `Serial':

(.text+0x0): multiple definition of `__vector_18'

sketch\mpu-6050.ino.cpp.o (symbol from plugin): (.text+0x0): first defined here

collect2.exe: error: ld returned 1 exit status

Multiple libraries were found for "EEPROM.h"
Used: C:\Program
Multiple libraries were found for "Wire.h"
Used: C:\Program
exit status 1
Error compiling for board Arduino/Genuino Uno.

If I remove my own USART Receive Interrupt definition, the code gets compiled successfully.
My query is: Do I2C, TimerOne and USART conflict while being used in the same code in Arduino? I am asking this because my USART interrupt method is working fine individually (Please find the project "Serially_Controlled_DO.zip" attached herewith).

mpu-6050.zip (48.8 KB)

Serially_Controlled_DO.zip (1.12 KB)

2

I tried to compile your code on an UNO

#include <avr/interrupt.h> 
#include <avr/io.h> 
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include <EEPROM.h>
#include <stdbool.h>
#include "TimerOne.h"
#include "I2Cdev.h"
#include "MPU6050.h"

#define USART_RXC_vect _VECTOR(18) // USART Rx Complete ISR

ISR(USART_RXC_vect)
{  
}
void setup() 
{
}

void loop() 
{
}

and it compiled with a few warnings, but no failure. check your libraries may be?

3

My code gives compilation errors for different Arduino IDE programmers like AVRISP mkII, AVR ISP, ArduinoISP and Arduino as ISP for Arduino Uno.

4

The programmer does not matter.

Your usart code conflicts with the built-in HardwareSerial library; I compiled with only TimerOne without an issue so one of the libraries that I don't have installed (I2Cdev or MPU6050) must cause the conflict.

Out of curiosity, why don't you want to use the standard Serial library?

5

I came to know that Timer1 conflicts with the working of I2C. So now I have removed Timer1 and I am using Timer0. I am still getting the same errors. If I am able to understand the problem, then the user defined USART Receive Interrupt conflicts with this MPU6050 library which mainly runs on I2C. So this seems to be a problem of conflict of USART (user defined) and I2C while they are being used in the same code.

6

Installed the libraries. Using IDE 1.8.5, same results as J-M-L; only warnings.

Where did you find that timer1 conflicts with I2C?