使用 MPU6050 加速度计/陀螺仪模块答案

【问题标题】：Using MPU6050 accelerometer/gyroscope module使用 MPU6050 加速度计/陀螺仪模块
【发布时间】：2012-12-08 12:06:04
【问题描述】：

我正在用Arduino Mega 测试我的MPU6050 module。我发现 Jeff Rowberg 为此编写了一个库。我尝试了他提供的this example。但是 Arduino IDE 在尝试验证草图时会出现大量错误。

我已经安装了 Jeffs 库。 （下图为库内容）

这是我得到的错误：

In file included from C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:42,
                 from sketch_dec08a.cpp:50:
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050.h:792: warning: only initialized variables can be placed into program memory area
In file included from sketch_dec08a.cpp:50:
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:89: warning: only initialized variables can be placed into program memory area
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:89: error: conflicting declaration 'const prog_uchar dmpMemory [1929]'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050.h:792: error: 'dmpMemory' has a previous declaration as 'prog_uchar dmpMemory [1929]'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:229: warning: only initialized variables can be placed into program memory area
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:271: warning: only initialized variables can be placed into program memory area
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:271: error: conflicting declaration 'const prog_uchar dmpUpdates [47]'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050.h:931: error: 'dmpUpdates' has a previous declaration as 'uint8_t dmpUpdates [29][9]'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:281: error: no 'uint8_t MPU6050::dmpInitialize()' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:506: error: no 'bool MPU6050::dmpPacketAvailable()' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:533: error: no 'uint8_t MPU6050::dmpGetAccel(int32_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:541: error: no 'uint8_t MPU6050::dmpGetAccel(int16_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:549: error: no 'uint8_t MPU6050::dmpGetAccel(VectorInt16*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:557: error: no 'uint8_t MPU6050::dmpGetQuaternion(int32_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:566: error: no 'uint8_t MPU6050::dmpGetQuaternion(int16_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:575: error: no 'uint8_t MPU6050::dmpGetQuaternion(Quaternion*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:590: error: no 'uint8_t MPU6050::dmpGetGyro(int32_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:598: error: no 'uint8_t MPU6050::dmpGetGyro(int16_t*, const uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:608: error: no 'uint8_t MPU6050::dmpGetLinearAccel(VectorInt16*, VectorInt16*, VectorFloat*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:616: error: no 'uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16*, VectorInt16*, Quaternion*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:628: error: no 'uint8_t MPU6050::dmpGetGravity(VectorFloat*, Quaternion*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:639: error: no 'uint8_t MPU6050::dmpGetEuler(float*, Quaternion*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:645: error: no 'uint8_t MPU6050::dmpGetYawPitchRoll(float*, Quaternion*, VectorFloat*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:658: error: no 'uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:668: error: no 'uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t, uint8_t*)' member function declared in class 'MPU6050'
C:\Users\LordXaX\Documents\Arduino\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:693: error: no 'uint16_t MPU6050::dmpGetFIFOPacketSize()' member function declared in class 'MPU6050'
sketch_dec08a.cpp: In function 'void setup()':
sketch_dec08a.cpp:177: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:181: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:182: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:182: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:185: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:191: warning: only initialized variables can be placed into program memory area
sketch_dec08a:187: error: 'class MPU6050' has no member named 'dmpInitialize'
sketch_dec08a.cpp:197: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:201: warning: only initialized variables can be placed into program memory area
sketch_dec08a:198: error: 'class MPU6050' has no member named 'getIntStatus'
sketch_dec08a.cpp:206: warning: only initialized variables can be placed into program memory area
sketch_dec08a:205: error: 'class MPU6050' has no member named 'dmpGetFIFOPacketSize'
sketch_dec08a.cpp:216: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp:218: warning: only initialized variables can be placed into program memory area
sketch_dec08a.cpp: In function 'void loop()':
sketch_dec08a:246: error: 'class MPU6050' has no member named 'getIntStatus'
sketch_dec08a.cpp:260: warning: only initialized variables can be placed into program memory area
sketch_dec08a:263: error: 'class MPU6050' has no member named 'getFIFOBytes'

我该如何克服这个问题？

我一直在非常努力地使用这个设备来获取加速度/陀螺仪值。但还是没有成功。

编辑

这是我在尝试编译（验证）时得到的。

【问题讨论】：

似乎是编译器问题。你能试试然后回来吗？我用过 mpu6050 和 jeff rowberg 的代码，有很多问题，但不是那个...
@lifesayko 好吧，正如你所问，我已经删除了整个库并从文件 here 中重新创建了它。相同的示例作为库示例出现。我加载并尝试了。但是，验证仍然失败。我不知道该怎么办。它说，'class MPU6050' 没有名为'dmpInitialize'的成员。我也上传了截图。请参阅编辑后的帖子。谢谢！
查看您发布的链接，没有 dmpInitialize，有一个初始化，但也许可以尝试一下。我不熟悉那个模块，但也许“dmp”前缀是不同库中的某种调试版本。抱歉，我在 .h 文件中看到了额外的版本，但看起来它取决于特定的条件定义。
感谢您的建议。刚试了下，也不行。但我认为最初的呼吁是正确的。 Jeff 自己编写了代码。（顺便说一句，dmp 不是用于调试的，它表示 Digital Motion Processor）
好的，看起来你缺少一些 DEF。基本上，Jeff 的库有一些您可能需要也可能不需要的“附加”部分（例如，您可以在没有 dmp 的情况下获取所有原始数据）。确保包含所有需要的标头，并声明所需的 DEF（包括 MPU6050_6Axis_MotionApps20.h）

标签： arduino accelerometer microcontroller robotics gyroscope

【解决方案1】：

Jeff 提供的 MPU6050_DMP6 示例对我有用。从您的编译错误来看，您似乎包含了 MPU6050.h，而不是 MPU6050_6Axis_MotionApps20.h。确保包含正确的。

如果您查看library code，您会注意到 .dmp___ 方法未在 MPU6050.cpp 文件中实现，而是在 MPU6050_6Axis_MotionApps20.h 文件中实现。如果这不能解决问题，请发布您的代码。

【讨论】：

谢谢！我已经完全尝试过this code。我猜不可能有错。我想知道我的图书馆是否没有正确建立。请查看我的问题中的第一张图片，我在其中包含了屏幕截图。但正如我所见，也没有任何问题。无论如何，编译器仍然给出相同的错误..

【解决方案2】：

尝试将 jeffs i2c .cpp 和 .h 文件放入与 mpu6050 库文件相同的文件夹中，我发现这对我有用，抱歉，如果这有点晚了，但希望对您有所帮助：P

【讨论】：

将 arduino ide 升级到最新版本后问题已解决。还是谢谢..
^ 应该将您的解决方案发布为答案

【解决方案3】：

我遇到了同样的问题，结果我同时包含了这两个问题 MPU6050.h 和 MPU6050_6Axis_MotionApps20.h。我注释掉了 MPU6050.h，它现在可以正常编译了。似乎前者压倒了后者。

【讨论】：

【解决方案4】：

我通过将 I2Cdev.cpp 和 I2C.h 放在 MPU6050 库文件夹中解决了编译问题。（注意：这些是 dev 文件）。这些是 Jeff 的库，可以在 GitHub

找到

【讨论】：