chucktodd:
Paul,
if you are using the Arduino IDE to compile this software, The IDE just concatenates everything in the Sketch directory.
I would suggest you move your Gyro.h and Gyro.cpp into their own subdirectory under the library folder.
[arduino sketch path]/libraries/Gyro/
Do you really need stdafx?
then you have to restart the IDE because Arduino builds a runtime library index. Any new library requires a IDE restart.
Chuck.
Doesn't work 
Thank you for your help chuck it's really nice from you :))
Any other idea ? 
changed my code:
gyro.cpp
#include "Gyro.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
//#include"Wire.h"
#endif
volatile bool Gyro::mpuInterrupt = false;
void dmpDataReady() {
Gyro::setMpuIntStatus(true);
}
static void setMpuIntStatus(volatile bool status)
{
Gyro::mpuInterrupt = status;
}
void Gyro::init() {
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
// 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());
while (!Serial.available());
while (Serial.available() && Serial.read());
// load and configure the DMP
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788);
if (devStatus == 0) {
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(0,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;
packetSize = mpu.dmpGetFIFOPacketSize();
}
else {
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
pinMode(LED_PIN, OUTPUT);
}
void Gyro::GetVals() {
if (!dmpReady) return;
while (!mpuInterrupt && fifoCount < packetSize) {
}
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
fifoCount = mpu.getFIFOCount();
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
else if (mpuIntStatus & 0x02) {
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
mpu.getFIFOBytes(fifoBuffer, packetSize);
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_QUATERNION
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
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
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.println(ypr[2] * 180 / M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
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
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
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]++;
#endif
this->blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
}
Gyro.h
#ifndef _GYRO_h
#define _GYRO_h
#if defined(ARDUINO) && ARDUINO >= 100
#include "arduino.h"
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "helper_3dmath.h"
#else
#include "WProgram.h"
#endif
class Gyro{
private:
MPU6050 mpu;
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState;
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
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
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
// orientation/motion vars
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 ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '
Error:
C:\Users\Paul\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:325: multiple definition of MPU6050::dmpInitialize()' Gyro.cpp.o:C:\Users\Paul\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:325: first defined here JustFLY.cpp.o: In function MPU6050::dmpInitialize()':
C:\Users\Paul\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:325: multiple definition of MPU6050::dmpPacketAvailable()' Gyro.cpp.o:C:\Users\Paul\AppData\Local\Temp\build6581932928238959917.tmp/Gyro.cpp:152: first defined here JustFLY.cpp.o: In function MPU6050::dmpInitialize()':
C:\Users\Paul\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:325: multiple definition of MPU6050::dmpGetAccel(long*, unsigned char const*)' Gyro.cpp.o:C:\Users\Paul\AppData\Local\Temp\build6581932928238959917.tmp/Gyro.cpp:152: first defined here JustFLY.cpp.o: In function MPU6050::dmpInitialize()':
C:\Users\Paul\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:325: multiple definition of MPU6050::dmpGetAccel(int*, unsigned char const*)' Gyro.cpp.o:C:\Users\Paul\AppData\Local\Temp\build6581932928238959917.tmp/Gyro.cpp:152: first defined here JustFLY.cpp.o: In function MPU6050::dmpInitialize()':
...
, 0x02, 0, 0, 0, 0, 0, 0, 0, 0, 0x00, 0x00, '\r', '\n' };
public:
volatile static bool mpuInterrupt; // indicates whether MPU interrupt pin has gone high
void static setMpuIntStatus(uint8_t status);
void init();
void GetVals();
};
#endif
Error:
> C:\Users\Paul\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:325: multiple definition of `MPU6050::dmpInitialize()'
> Gyro.cpp.o:C:\Users\Paul\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:325: first defined here
> JustFLY.cpp.o: In function `MPU6050::dmpInitialize()':
> C:\Users\Paul\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:325: multiple definition of `MPU6050::dmpPacketAvailable()'
> Gyro.cpp.o:C:\Users\Paul\AppData\Local\Temp\build6581932928238959917.tmp/Gyro.cpp:152: first defined here
> JustFLY.cpp.o: In function `MPU6050::dmpInitialize()':
> C:\Users\Paul\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:325: multiple definition of `MPU6050::dmpGetAccel(long*, unsigned char const*)'
> Gyro.cpp.o:C:\Users\Paul\AppData\Local\Temp\build6581932928238959917.tmp/Gyro.cpp:152: first defined here
> JustFLY.cpp.o: In function `MPU6050::dmpInitialize()':
> C:\Users\Paul\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:325: multiple definition of `MPU6050::dmpGetAccel(int*, unsigned char const*)'
> Gyro.cpp.o:C:\Users\Paul\AppData\Local\Temp\build6581932928238959917.tmp/Gyro.cpp:152: first defined here
> JustFLY.cpp.o: In function `MPU6050::dmpInitialize()':
> ...
