Closed Gennanio closed 5 years ago
i'm the beginner of linux. but i want to know how to do this work i use MPU9250
i use Raspberry pi 3 B wired mpu9250 I2C --> rpi pin 3 SDA--> rpi pin 5 Vcc --> rpi pin 1 (3.3V) GND--> rpi pin 6 (GND)
$ git clone https://github.com/rpicopter/MotionSensorExample.git
$ cd /MotionSensorExample/MotionSensor/
$ nano Makefile
CXX=g++ AR=ar CXXFLAGS=-Wall -g -O2 CXX_OPTS=-c -DMPU9250 -DMPU_DEBUGOFF -I../libs/ SOURCES=sensor.c inv_mpu_lib/inv_mpu.c inv_mpu_lib/inv_mpu_dmp_motion_driver.c OBJECTS=$(SOURCES:.c=.o) LIB=libMotionSensor.a %.o: %.c $(CXX) $(CXXFLAGS) $(CXX_OPTS) $< -o $@ $(LIB): $(OBJECTS) $(AR) rcs $(LIB) $(OBJECTS) all: $(LIB) clean: rm -rf *.o rm -rf inv_mpu_lib/*.o rm -rf $(LIB)
i change directory to MotionSensorExample and make with $ cd .. $ make
$ cd ..
$ make
the result is
make -C MotionSensor/ make[1]: Entering directory '/home/mecanion/Downloads/MotionSensorExample/MotionSensor' g++ -Wall -g -O2 -c -DMPU6050 -DMPU_DEBUGOFF -I../libs/ sensor.c -o sensor.o g++ -Wall -g -O2 -c -DMPU6050 -DMPU_DEBUGOFF -I../libs/ inv_mpu_lib/inv_mpu.c -o inv_mpu_lib/inv_mpu.o inv_mpu_lib/inv_mpu.c: In function ‘uint8_t mpu_lp_motion_interrupt(uint16_t, uint8_t, uint8_t)’: inv_mpu_lib/inv_mpu.c:2809:19: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) ^ inv_mpu_lib/inv_mpu.c: In function ‘uint8_t mpu_run_self_test(int32_t*, int32_t*)’: inv_mpu_lib/inv_mpu.c:2228:34: warning: ‘sample_rate’ may be used uninitialized in this function [-Wmaybe-uninitialized] mpu_set_sample_rate(sample_rate); ^ inv_mpu_lib/inv_mpu.c: At global scope: inv_mpu_lib/inv_mpu.c:2408:12: warning: ‘int setup_compass()’ defined but not used [-Wunused-function] static int setup_compass(void) ^ g++ -Wall -g -O2 -c -DMPU6050 -DMPU_DEBUGOFF -I../libs/ inv_mpu_lib/inv_mpu_dmp_motion_driver.c -o inv_mpu_lib/inv_mpu_dmp_motion_driver.o ar rcs libMotionSensor.a sensor.o inv_mpu_lib/inv_mpu.o inv_mpu_lib/inv_mpu_dmp_motion_driver.o make[1]: Leaving directory '/home/mecanion/Downloads/MotionSensorExample/MotionSensor' make -C libs/I2Cdev make[1]: Entering directory '/home/mecanion/Downloads/MotionSensorExample/libs/I2Cdev' g++ -c I2Cdev.c -o I2Cdev.o ar rcs ../libI2Cdev.a I2Cdev.o make[1]: Leaving directory '/home/mecanion/Downloads/MotionSensorExample/libs/I2Cdev' g++ -Wall -g -O2 -o mstest \ main.c \ MotionSensor/libMotionSensor.a \ libs/libI2Cdev.a
then idk how to do next ? how to read the Output and use that Roll, Pitch, Yaw? Please help. Thank you a lot.
i'm the beginner of linux. but i want to know how to do this work i use MPU9250
i use Raspberry pi 3 B wired mpu9250 I2C --> rpi pin 3 SDA--> rpi pin 5 Vcc --> rpi pin 1 (3.3V) GND--> rpi pin 6 (GND)
$ git clone https://github.com/rpicopter/MotionSensorExample.git
$ cd /MotionSensorExample/MotionSensor/
$ nano Makefile
i change directory to MotionSensorExample and make with
$ cd ..
$ make
the result is
then idk how to do next ? how to read the Output and use that Roll, Pitch, Yaw? Please help. Thank you a lot.