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LiquidCGS / FastIMU

the IMU library to rule them all (wip)
MIT License
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Divide by Zero during Calibration #21

Open dennyfmn opened 1 month ago

dennyfmn commented 1 month ago

Using FastIMU 1.2.6, Calibrated_sensor_output example, on Arduino 2.3.2 with MPU6886 built into M5StickC Plus2. Runs fine if I comment out the Calibration line. If I let it try to calibrate I get:

FastIMU calibration & data example Keep IMU level. Guru Meditation Error: Core 1 panic'ed (IntegerDivideByZero). Exception was unhandled.

Core 1 register dump: PC : 0x400d1d0e PS : 0x00060c30 A0 : 0x800d18a0 A1 : 0x3ffb21f0
A2 : 0x00000000 A3 : 0x3ffc1068 A4 : 0x00000000 A5 : 0x00000000
A6 : 0x00000000 A7 : 0x00000000 A8 : 0x00000000 A9 : 0x00000000
A10 : 0x00000002 A11 : 0x00000072 A12 : 0x00000002 A13 : 0x3ffb2200
A14 : 0x00000000 A15 : 0x00000000 SAR : 0x0000001c EXCCAUSE: 0x00000006
EXCVADDR: 0x00000000 LBEG : 0x4008700c LEND : 0x40087022 LCOUNT : 0xffffffff

Backtrace: 0x400d1d0b:0x3ffb21f0 0x400d189d:0x3ffb2230 0x400d5982:0x3ffb2290

ELF file SHA256: 5ee44eb45d02f904

Rebooting...

Update 6/3/2024 The Calibration works fine with an IMU6050 connected via I2c on a Wemos D1 Mini.

patrickstreit commented 2 weeks ago

I experience the same on a M5Atom Matrix with MPU6886 built in. Also on Arduino 2.3.2 / FastIMU 1.2.6 Runs fine without startup calibration

FastIMU calibration Keep IMU level. Guru Meditation Error: Core 1 panic'ed (IntegerDivideByZero). Exception was unhandled.

Core 1 register dump: PC : 0x400d368b PS : 0x00060a30 A0 : 0x800d295e A1 : 0x3ffb21e0
A2 : 0x00000000 A3 : 0x3ffc3844 A4 : 0x00000000 A5 : 0x3ffb2200
A6 : 0x00000000 A7 : 0x00000000 A8 : 0x00000000 A9 : 0x00000000
A10 : 0x00000000 A11 : 0x00000000 A12 : 0x00000072 A13 : 0x00000002
A14 : 0x3ffb2200 A15 : 0x00000000 SAR : 0x0000001c EXCCAUSE: 0x00000006
EXCVADDR: 0x00000000 LBEG : 0x40089b78 LEND : 0x40089b8e LCOUNT : 0xffffffff

Backtrace: 0x400d3688:0x3ffb21e0 0x400d295b:0x3ffb2230 0x400d6fe2:0x3ffb2290

ELF file SHA256: 833ca81c6f4778fc

Rebooting...

floBik commented 3 days ago

Hello all,

this Issue should be solved with following PR #25