My mpu-6050 for navigation robot freezes while it is running the entire code with interrupt pin 2. I do not know why, but it seems to be a common issue for many mpu-6050 gyroscope users. Can anyone let me know how to tackle this issue who have solved this problem?
This is my pin configuration:
//VDD on Gyro chip connected to -> 3.3V pin on arduino
//GND -> GND
//INT -> digital pin 2
//SCL -> analog pin A5
//SDA -> analog pin A4
//VIO -> VDD on gyro(3.3V)
The AD0 pin is left unconnected. Not sure if i should connect it to ground. I have attached my gyro setup code for all to see. Looking forward to your response.
Gyro Setup.txt (1.58 KB)
[
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
MPU6050 mpu;
#define OUTPUT_READABLE_YAWPITCHROLL
bool blinkState = false;
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
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel 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 yaaaw[1];///////////////////////////////////////////////////////////////
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// === Gyro INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
]