MPU9250/6500 library problem

yousifsafaasadi · October 25, 2022, 1:26pm

I'm trying to use MPU9250/6500 to get xyz axis
the code I got from GitHub

#include "Wire.h"
#include "I2C.h"

#define MPU9250_IMU_ADDRESS 0x68
#define MPU9250_MAG_ADDRESS 0x0C

#define GYRO_FULL_SCALE_250_DPS  0x00
#define GYRO_FULL_SCALE_500_DPS  0x08
#define GYRO_FULL_SCALE_1000_DPS 0x10
#define GYRO_FULL_SCALE_2000_DPS 0x18

#define ACC_FULL_SCALE_2G  0x00
#define ACC_FULL_SCALE_4G  0x08
#define ACC_FULL_SCALE_8G  0x10
#define ACC_FULL_SCALE_16G 0x18

#define TEMPERATURE_OFFSET 21 // As defined in documentation

#define INTERVAL_MS_PRINT 1000

#define G 9.80665

struct gyroscope_raw {
  int16_t x, y, z;
} gyroscope;

struct accelerometer_raw {
  int16_t x, y, z;
} accelerometer;

struct magnetometer_raw {
  int16_t x, y, z;

  struct {
    int8_t x, y, z;
  } adjustment;
} magnetometer;

struct temperature_raw {
  int16_t value;
} temperature;

struct {
  struct {
    float x, y, z;
  } accelerometer, gyroscope, magnetometer;

  float temperature;
} normalized;

unsigned long lastPrintMillis = 0;

void setup()
{
  Wire.begin();
  Serial.begin(115200);

  I2CwriteByte(MPU9250_IMU_ADDRESS, 27, GYRO_FULL_SCALE_1000_DPS); // Configure gyroscope range
  I2CwriteByte(MPU9250_IMU_ADDRESS, 28, ACC_FULL_SCALE_2G);        // Configure accelerometer range

  I2CwriteByte(MPU9250_IMU_ADDRESS, 55, 0x02); // Set by pass mode for the magnetometers
  I2CwriteByte(MPU9250_IMU_ADDRESS, 56, 0x01); // Enable interrupt pin for raw data

  setMagnetometerAdjustmentValues();

  //Start magnetometer
  I2CwriteByte(MPU9250_MAG_ADDRESS, 0x0A, 0x12); // Request continuous magnetometer measurements in 16 bits (mode 1)
}

void loop()
{
  unsigned long currentMillis = millis();

  if (isImuReady()) {
    readRawImu();

    normalize(gyroscope);
    normalize(accelerometer);
    normalize(temperature);
  }

  if (isMagnetometerReady()) {
    readRawMagnetometer();

    normalize(magnetometer);
  }

  if (currentMillis - lastPrintMillis > INTERVAL_MS_PRINT) {
    Serial.print("TEMP:\t");
    Serial.print(normalized.temperature, 2);
    Serial.print("\xC2\xB0"); //Print degree symbol
    Serial.print("C");
    Serial.println();

    Serial.print("GYR (");
    Serial.print("\xC2\xB0"); //Print degree symbol
    Serial.print("/s):\t");
    Serial.print(normalized.gyroscope.x, 3);
    Serial.print("\t\t");
    Serial.print(normalized.gyroscope.y, 3);
    Serial.print("\t\t");
    Serial.print(normalized.gyroscope.z, 3);
    Serial.println();

    Serial.print("ACC (m/s^2):\t");
    Serial.print(normalized.accelerometer.x, 3);
    Serial.print("\t\t");
    Serial.print(normalized.accelerometer.y, 3);
    Serial.print("\t\t");
    Serial.print(normalized.accelerometer.z, 3);
    Serial.println();

    Serial.print("MAG (");
    Serial.print("\xce\xbc"); //Print micro symbol
    Serial.print("T):\t");
    Serial.print(normalized.magnetometer.x, 3);
    Serial.print("\t\t");
    Serial.print(normalized.magnetometer.y, 3);
    Serial.print("\t\t");
    Serial.print(normalized.magnetometer.z, 3);
    Serial.println();

    Serial.println();

    lastPrintMillis = currentMillis;
  }
}

this is the error message

Arduino: 1.8.19 (Windows Store 1.8.57.0) (Windows 10), Board: "Arduino Mega or Mega 2560, ATmega2560 (Mega 2560)"

C:\Users\Cloud\OneDrive\Desktop\master degree\arduino code\xyz\xyz.ino: In function 'void setup()':

xyz:64:3: error: 'setMagnetometerAdjustmentValues' was not declared in this scope

setMagnetometerAdjustmentValues();

^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

C:\Users\Cloud\OneDrive\Desktop\master degree\arduino code\xyz\xyz.ino: In function 'void loop()':

xyz:74:7: error: 'isImuReady' was not declared in this scope

if (isImuReady()) {

   ^~~~~~~~~~

xyz:75:5: error: 'readRawImu' was not declared in this scope

 readRawImu();

 ^~~~~~~~~~

xyz:77:5: error: 'normalize' was not declared in this scope

 normalize(gyroscope);

 ^~~~~~~~~

C:\Users\Cloud\OneDrive\Desktop\master degree\arduino code\xyz\xyz.ino:77:5: note: suggested alternative: 'normalized'

 normalize(gyroscope);

 ^~~~~~~~~

 normalized

xyz:82:7: error: 'isMagnetometerReady' was not declared in this scope

if (isMagnetometerReady()) {

   ^~~~~~~~~~~~~~~~~~~

C:\Users\Cloud\OneDrive\Desktop\master degree\arduino code\xyz\xyz.ino:82:7: note: suggested alternative: 'magnetometer_raw'

if (isMagnetometerReady()) {

   ^~~~~~~~~~~~~~~~~~~

   magnetometer_raw

xyz:83:5: error: 'readRawMagnetometer' was not declared in this scope

 readRawMagnetometer();

 ^~~~~~~~~~~~~~~~~~~

C:\Users\Cloud\OneDrive\Desktop\master degree\arduino code\xyz\xyz.ino:83:5: note: suggested alternative: 'magnetometer'

 readRawMagnetometer();

 ^~~~~~~~~~~~~~~~~~~

 magnetometer

xyz:85:5: error: 'normalize' was not declared in this scope

 normalize(magnetometer);

 ^~~~~~~~~

C:\Users\Cloud\OneDrive\Desktop\master degree\arduino code\xyz\xyz.ino:85:5: note: suggested alternative: 'normalized'

 normalize(magnetometer);

 ^~~~~~~~~

 normalized

exit status 1

'setMagnetometerAdjustmentValues' was not declared in this scope

This report would have more information with
"Show verbose output during compilation"
option enabled in File -> Preferences.

sterretje · October 25, 2022, 1:45pm

Where from github? Link please.

Maybe the code was part of a library and you did not donwload the library. Maybe there were multiple files and you only downloaded the one that you showed.

Idahowalker · October 25, 2022, 1:54pm

the error is correct there is no setMagnetometerAdjustmentValues(); function. Where did you get the code from? Perhaps you did not copy the entire code?

yousifsafaasadi · October 25, 2022, 5:08pm

thank you for replying
I tried to find the link but unfortunately I didn't find it
can you assist me with problem in the code

I tried this one it, worked but I don't understand them

 #include <Wire.h>
#include <TimerOne.h>

#define    MPU9250_ADDRESS            0x68
#define    MAG_ADDRESS                0x0C

#define    GYRO_FULL_SCALE_250_DPS    0x00  
#define    GYRO_FULL_SCALE_500_DPS    0x08
#define    GYRO_FULL_SCALE_1000_DPS   0x10
#define    GYRO_FULL_SCALE_2000_DPS   0x18

#define    ACC_FULL_SCALE_2_G        0x00  
#define    ACC_FULL_SCALE_4_G        0x08
#define    ACC_FULL_SCALE_8_G        0x10
#define    ACC_FULL_SCALE_16_G       0x18



// This function read Nbytes bytes from I2C device at address Address. 
// Put read bytes starting at register Register in the Data array. 
void I2Cread(uint8_t Address, uint8_t Register, uint8_t Nbytes, uint8_t* Data)
{
  // Set register address
  Wire.beginTransmission(Address);
  Wire.write(Register);
  Wire.endTransmission();
  
  // Read Nbytes
  Wire.requestFrom(Address, Nbytes); 
  uint8_t index=0;
  while (Wire.available())
    Data[index++]=Wire.read();
}


// Write a byte (Data) in device (Address) at register (Register)
void I2CwriteByte(uint8_t Address, uint8_t Register, uint8_t Data)
{
  // Set register address
  Wire.beginTransmission(Address);
  Wire.write(Register);
  Wire.write(Data);
  Wire.endTransmission();
}



// Initial time
long int ti;
volatile bool intFlag=false;

// Initializations
void setup()
{
  // Arduino initializations
  Wire.begin();
  Serial.begin(115200);
  
  // Set accelerometers low pass filter at 5Hz
  I2CwriteByte(MPU9250_ADDRESS,29,0x06);
  // Set gyroscope low pass filter at 5Hz
  I2CwriteByte(MPU9250_ADDRESS,26,0x06);
 
  
  // Configure gyroscope range
  I2CwriteByte(MPU9250_ADDRESS,27,GYRO_FULL_SCALE_1000_DPS);
  // Configure accelerometers range
  I2CwriteByte(MPU9250_ADDRESS,28,ACC_FULL_SCALE_4_G);
  // Set by pass mode for the magnetometers
  I2CwriteByte(MPU9250_ADDRESS,0x37,0x02);
  
  // Request continuous magnetometer measurements in 16 bits
  I2CwriteByte(MAG_ADDRESS,0x0A,0x16);
  
   pinMode(13, OUTPUT);
  Timer1.initialize(10000);         // initialize timer1, and set a 1/2 second period
  Timer1.attachInterrupt(callback);  // attaches callback() as a timer overflow interrupt
  
  
  // Store initial time
  ti=millis();
}





// Counter
long int cpt=0;

void callback()
{ 
  intFlag=true;
  digitalWrite(13, digitalRead(13) ^ 1);
}

// Main loop, read and display data
void loop()
{
  while (!intFlag);
  intFlag=false;
  
  // Display time
  Serial.print (millis()-ti,DEC);
  Serial.print ("\t");

  
  // _______________
  // ::: Counter :::
  
  // Display data counter
//  Serial.print (cpt++,DEC);
//  Serial.print ("\t");
  
 
 
  // ____________________________________
  // :::  accelerometer and gyroscope ::: 

  // Read accelerometer and gyroscope
  uint8_t Buf[14];
  I2Cread(MPU9250_ADDRESS,0x3B,14,Buf);
  
  // Create 16 bits values from 8 bits data
  
  // Accelerometer
  int16_t ax=-(Buf[0]<<8 | Buf[1]);
  int16_t ay=-(Buf[2]<<8 | Buf[3]);
  int16_t az=Buf[4]<<8 | Buf[5];

  // Gyroscope
  int16_t gx=-(Buf[8]<<8 | Buf[9]);
  int16_t gy=-(Buf[10]<<8 | Buf[11]);
  int16_t gz=Buf[12]<<8 | Buf[13];
  
    // Display values
  
  // Accelerometer
  Serial.print (ax,DEC); 
  Serial.print ("\t");
  Serial.print (ay,DEC);
  Serial.print ("\t");
  Serial.print (az,DEC);  
  Serial.print ("\t");
  
  // Gyroscope
  Serial.print (gx,DEC); 
  Serial.print ("\t");
  Serial.print (gy,DEC);
  Serial.print ("\t");
  Serial.print (gz,DEC);  
  Serial.print ("\t");

  
  // _____________________
  // :::  Magnetometer ::: 

  
  // Read register Status 1 and wait for the DRDY: Data Ready
  
  uint8_t ST1;
  do
  {
    I2Cread(MAG_ADDRESS,0x02,1,&ST1);
  }
  while (!(ST1&0x01));

  // Read magnetometer data  
  uint8_t Mag[7];  
  I2Cread(MAG_ADDRESS,0x03,7,Mag);
  

  // Create 16 bits values from 8 bits data
  
  // Magnetometer
  int16_t mx=-(Mag[3]<<8 | Mag[2]);
  int16_t my=-(Mag[1]<<8 | Mag[0]);
  int16_t mz=-(Mag[5]<<8 | Mag[4]);
  
  
  // Magnetometer
  Serial.print (mx+200,DEC); 
  Serial.print ("\t");
  Serial.print (my-70,DEC);
  Serial.print ("\t");
  Serial.print (mz-700,DEC);  
  Serial.print ("\t");
  
  
  
  // End of line
  Serial.println("");
//  delay(100);    
}

system · April 23, 2023, 5:09pm

This topic was automatically closed 180 days after the last reply. New replies are no longer allowed.

Topic		Replies	Views
MPU9255 Programming Questions	24	17408	May 5, 2021
Problem with mpu9250 library Project Guidance	4	483	September 22, 2023
MPU-9250 Sensors	10	2749	May 6, 2021
Mpu9255 cant get z axis data Programming Questions	2	64	June 28, 2024
Trouble when moving IMUAccelerometer (MPU6500) Sensors	5	1415	May 6, 2021

MPU9250/6500 library problem

Related Topics