I have a curiosity. What is the difference between adding a header file directly on the arduino IDE and the header file inside another h-file. For example:
#include "MPU6050_6Axis_MotionApps20.h"
void setup()
{
}
void loop()
{
}
This last didn't give me any problem, but when I create a h-file and add inside that h-file that library, it gave me an error:
ARDUINO:
#include "Prueba.h"
void setup()
{
}
void loop()
{
}
Prueba.h
//#ifndef Prueba_H
//#define Prueba_H
//#define LIBRARY_VERSION 1.0.0
#include "MPU6050_6Axis_MotionApps20.h"
class Prueba
{
public:
Prueba();
};
//#endif
Part of the error code is:
C:\Users\linco\Documents\Arduino\libraries\MPU6050-0.2.1\src\MPU6050.cpp:1679:9: note: implicit this pointer type mismatch
uint8_t MPU6050::getIntStatus() {
^
C:\Users\linco\Documents\Arduino\libraries\MPU6050-0.2.1\src\MPU6050.h:438:7: note: type 'struct MPU6050' itself violates the C++ One Definition Rule
class MPU6050 {
^
C:\Users\linco\Documents\Arduino\libraries\MPU6050-0.2.1\src/MPU6050.h:438:7: note: the incompatible type is defined here
class MPU6050 {
^
C:\Users\linco\Documents\Arduino\libraries\MPU6050-0.2.1\src\MPU6050.cpp:1679:9: note: 'getIntStatus' was previously declared here
uint8_t MPU6050::getIntStatus() {
^
C:\Users\linco\Documents\Arduino\libraries\MPU6050-0.2.1\src\MPU6050.cpp:1679:9: note: code may be misoptimized unless -fno-strict-aliasing is used
collect2.exe: error: ld returned 1 exit status
exit status 1
Can someone explain me this?
Thanks in advance.
1 Answer 1
Well I don't know exactly why this work, but base on this question this. To solve this I should add 'inline' keyword in every method definition on the MPU6050_6Axis_MotionApps20.h Like this:
inline uint8_t MPU6050::dmpInitialize() {
// reset device
DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
reset();
delay(30); // wait after reset
// disable sleep mode
setSleepEnabled(false);
// get MPU hardware revision
setMemoryBank(0x10, true, true);
setMemoryStartAddress(0x06);
Serial.println(F("Checking hardware revision..."));
Serial.print(F("Revision @ user[16][6] = "));
Serial.println(readMemoryByte(), HEX);
Serial.println(F("Resetting memory bank selection to 0..."));
setMemoryBank(0, false, false);
// check OTP bank valid
DEBUG_PRINTLN(F("Reading OTP bank valid flag..."));
DEBUG_PRINT(F("OTP bank is "));
DEBUG_PRINTLN(getOTPBankValid() ? F("valid!") : F("invalid!"));
// setup weird slave stuff (?)
DEBUG_PRINTLN(F("Setting slave 0 address to 0x7F..."));
setSlaveAddress(0, 0x7F);
DEBUG_PRINTLN(F("Disabling I2C Master mode..."));
setI2CMasterModeEnabled(false);
DEBUG_PRINTLN(F("Setting slave 0 address to 0x68 (self)..."));
setSlaveAddress(0, 0x68);
DEBUG_PRINTLN(F("Resetting I2C Master control..."));
resetI2CMaster();
delay(20);
DEBUG_PRINTLN(F("Setting clock source to Z Gyro..."));
setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
DEBUG_PRINTLN(F("Setting DMP and FIFO_OFLOW interrupts enabled..."));
setIntEnabled(1<<MPU6050_INTERRUPT_FIFO_OFLOW_BIT|1<<MPU6050_INTERRUPT_DMP_INT_BIT);
DEBUG_PRINTLN(F("Setting sample rate to 200Hz..."));
setRate(4); // 1khz / (1 + 4) = 200 Hz
DEBUG_PRINTLN(F("Setting external frame sync to TEMP_OUT_L[0]..."));
setExternalFrameSync(MPU6050_EXT_SYNC_TEMP_OUT_L);
DEBUG_PRINTLN(F("Setting DLPF bandwidth to 42Hz..."));
setDLPFMode(MPU6050_DLPF_BW_42);
DEBUG_PRINTLN(F("Setting gyro sensitivity to +/- 2000 deg/sec..."));
setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
// load DMP code into memory banks
DEBUG_PRINT(F("Writing DMP code to MPU memory banks ("));
DEBUG_PRINT(MPU6050_DMP_CODE_SIZE);
DEBUG_PRINTLN(F(" bytes)"));
if (!writeProgMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE)) return 1; // Failed
DEBUG_PRINTLN(F("Success! DMP code written and verified."));
// Set the FIFO Rate Divisor int the DMP Firmware Memory
unsigned char dmpUpdate[] = {0x00, MPU6050_DMP_FIFO_RATE_DIVISOR};
writeMemoryBlock(dmpUpdate, 0x02, 0x02, 0x16); // Lets write the dmpUpdate data to the Firmware image, we have 2 bytes to write in bank 0x02 with the Offset 0x16
//write start address MSB into register
setDMPConfig1(0x03);
//write start address LSB into register
setDMPConfig2(0x00);
DEBUG_PRINTLN(F("Clearing OTP Bank flag..."));
setOTPBankValid(false);
DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
setMotionDetectionThreshold(2);
DEBUG_PRINTLN(F("Setting zero-motion detection threshold to 156..."));
setZeroMotionDetectionThreshold(156);
DEBUG_PRINTLN(F("Setting motion detection duration to 80..."));
setMotionDetectionDuration(80);
DEBUG_PRINTLN(F("Setting zero-motion detection duration to 0..."));
setZeroMotionDetectionDuration(0);
DEBUG_PRINTLN(F("Enabling FIFO..."));
setFIFOEnabled(true);
DEBUG_PRINTLN(F("Resetting DMP..."));
resetDMP();
DEBUG_PRINTLN(F("DMP is good to go! Finally."));
DEBUG_PRINTLN(F("Disabling DMP (you turn it on later)..."));
setDMPEnabled(false);
DEBUG_PRINTLN(F("Setting up internal 42-byte (default) DMP packet buffer..."));
dmpPacketSize = 42;
DEBUG_PRINTLN(F("Resetting FIFO and clearing INT status one last time..."));
resetFIFO();
getIntStatus();
return 0; // success
}
inline bool MPU6050::dmpPacketAvailable() {
return getFIFOCount() >= dmpGetFIFOPacketSize();
}
inline uint8_t MPU6050::dmpGetAccel(int32_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = (((uint32_t)packet[28] << 24) | ((uint32_t)packet[29] << 16) | ((uint32_t)packet[30] << 8) | packet[31]);
data[1] = (((uint32_t)packet[32] << 24) | ((uint32_t)packet[33] << 16) | ((uint32_t)packet[34] << 8) | packet[35]);
data[2] = (((uint32_t)packet[36] << 24) | ((uint32_t)packet[37] << 16) | ((uint32_t)packet[38] << 8) | packet[39]);
return 0;
}
inline uint8_t MPU6050::dmpGetAccel(int16_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = (packet[28] << 8) | packet[29];
data[1] = (packet[32] << 8) | packet[33];
data[2] = (packet[36] << 8) | packet[37];
return 0;
}
inline uint8_t MPU6050::dmpGetAccel(VectorInt16 *v, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
v -> x = (packet[28] << 8) | packet[29];
v -> y = (packet[32] << 8) | packet[33];
v -> z = (packet[36] << 8) | packet[37];
return 0;
}
inline uint8_t MPU6050::dmpGetQuaternion(int32_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = (((uint32_t)packet[0] << 24) | ((uint32_t)packet[1] << 16) | ((uint32_t)packet[2] << 8) | packet[3]);
data[1] = (((uint32_t)packet[4] << 24) | ((uint32_t)packet[5] << 16) | ((uint32_t)packet[6] << 8) | packet[7]);
data[2] = (((uint32_t)packet[8] << 24) | ((uint32_t)packet[9] << 16) | ((uint32_t)packet[10] << 8) | packet[11]);
data[3] = (((uint32_t)packet[12] << 24) | ((uint32_t)packet[13] << 16) | ((uint32_t)packet[14] << 8) | packet[15]);
return 0;
}
inline uint8_t MPU6050::dmpGetQuaternion(int16_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = ((packet[0] << 8) | packet[1]);
data[1] = ((packet[4] << 8) | packet[5]);
data[2] = ((packet[8] << 8) | packet[9]);
data[3] = ((packet[12] << 8) | packet[13]);
return 0;
}
inline uint8_t MPU6050::dmpGetQuaternion(Quaternion *q, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
int16_t qI[4];
uint8_t status = dmpGetQuaternion(qI, packet);
if (status == 0) {
q -> w = (float)qI[0] / 16384.0f;
q -> x = (float)qI[1] / 16384.0f;
q -> y = (float)qI[2] / 16384.0f;
q -> z = (float)qI[3] / 16384.0f;
return 0;
}
return status; // int16 return value, indicates error if this line is reached
}
inline uint8_t MPU6050::dmpGetGyro(int32_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = (((uint32_t)packet[16] << 24) | ((uint32_t)packet[17] << 16) | ((uint32_t)packet[18] << 8) | packet[19]);
data[1] = (((uint32_t)packet[20] << 24) | ((uint32_t)packet[21] << 16) | ((uint32_t)packet[22] << 8) | packet[23]);
data[2] = (((uint32_t)packet[24] << 24) | ((uint32_t)packet[25] << 16) | ((uint32_t)packet[26] << 8) | packet[27]);
return 0;
}
inline uint8_t MPU6050::dmpGetGyro(int16_t *data, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
data[0] = (packet[16] << 8) | packet[17];
data[1] = (packet[20] << 8) | packet[21];
data[2] = (packet[24] << 8) | packet[25];
return 0;
}
inline uint8_t MPU6050::dmpGetGyro(VectorInt16 *v, const uint8_t* packet) {
// TODO: accommodate different arrangements of sent data (ONLY default supported now)
if (packet == 0) packet = dmpPacketBuffer;
v -> x = (packet[16] << 8) | packet[17];
v -> y = (packet[20] << 8) | packet[21];
v -> z = (packet[24] << 8) | packet[25];
return 0;
}
inline uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) {
// get rid of the gravity component (+1g = +8192 in standard DMP FIFO packet, sensitivity is 2g)
v -> x = vRaw -> x - gravity -> x*8192;
v -> y = vRaw -> y - gravity -> y*8192;
v -> z = vRaw -> z - gravity -> z*8192;
return 0;
}
inline uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Quaternion *q) {
// rotate measured 3D acceleration vector into original state
// frame of reference based on orientation quaternion
memcpy(v, vReal, sizeof(VectorInt16));
v -> rotate(q);
return 0;
}
inline uint8_t MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet) {
/* +1g corresponds to +8192, sensitivity is 2g. */
int16_t qI[4];
uint8_t status = dmpGetQuaternion(qI, packet);
data[0] = ((int32_t)qI[1] * qI[3] - (int32_t)qI[0] * qI[2]) / 16384;
data[1] = ((int32_t)qI[0] * qI[1] + (int32_t)qI[2] * qI[3]) / 16384;
data[2] = ((int32_t)qI[0] * qI[0] - (int32_t)qI[1] * qI[1]
- (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
return status;
}
inline uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
v -> z = q -> w*q -> w - q -> x*q -> x - q -> y*q -> y + q -> z*q -> z;
return 0;
}
inline uint8_t MPU6050::dmpGetEuler(float *data, Quaternion *q) {
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1); // psi
data[1] = -asin(2*q -> x*q -> z + 2*q -> w*q -> y); // theta
data[2] = atan2(2*q -> y*q -> z - 2*q -> w*q -> x, 2*q -> w*q -> w + 2*q -> z*q -> z - 1); // phi
return 0;
}
#ifdef USE_OLD_DMPGETYAWPITCHROLL
inline uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
// yaw: (about Z axis)
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
// pitch: (nose up/down, about Y axis)
data[1] = atan(gravity -> x / sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
// roll: (tilt left/right, about X axis)
data[2] = atan(gravity -> y / sqrt(gravity -> x*gravity -> x + gravity -> z*gravity -> z));
return 0;
}
#else
inline uint8_t MPU6050::dmpGetYawPitchRoll(float *data, Quaternion *q, VectorFloat *gravity) {
// yaw: (about Z axis)
data[0] = atan2(2*q -> x*q -> y - 2*q -> w*q -> z, 2*q -> w*q -> w + 2*q -> x*q -> x - 1);
// pitch: (nose up/down, about Y axis)
data[1] = atan2(gravity -> x , sqrt(gravity -> y*gravity -> y + gravity -> z*gravity -> z));
// roll: (tilt left/right, about X axis)
data[2] = atan2(gravity -> y , gravity -> z);
if (gravity -> z < 0) {
if(data[1] > 0) {
data[1] = PI - data[1];
} else {
data[1] = -PI - data[1];
}
}
return 0;
}
#endif
inline uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {
return 0;
}
inline uint8_t MPU6050::dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t *processed) {
uint8_t status;
uint8_t buf[dmpPacketSize];
for (uint8_t i = 0; i < numPackets; i++) {
// read packet from FIFO
getFIFOBytes(buf, dmpPacketSize);
// process packet
if ((status = dmpProcessFIFOPacket(buf)) > 0) return status;
// increment external process count variable, if supplied
if (processed != 0) (*processed)++;
}
return 0;
}
inline uint16_t MPU6050::dmpGetFIFOPacketSize() {
return dmpPacketSize;
}
#endif
I don't know why the guys that made this library didn't add this. Maybe I'm missing something.
lang-cpp
//#ifndef Prueba_H