Which is better to use for ESP32 and Sparkfun 9250 breakout?

[MiloMindbender]

@kriswiner I'm a little confused looking at your ESP32 repository and your MPU9250 repository.

I'm using a Sparkfun 9250 breakout (https://www.sparkfun.com/products/13762) and an Adafruit Feather ESP32 board.

Between these two repositories you have a number of MPU9250 sketches and I'm a bit confused about which one is most appropriate for the setup I'm running. I'm looking to get sensor fusion for a balancing robot.

My robot runs it's main loop every 10ms and I want to get/fuse "latest" data from the sensor at the top of the loop.

I've tried sparkfun's 9250 repositories but theirs all seem broken in some way.

[kriswiner]

What's wrong with this <https://github.com/kriswiner/ESP32/tree/master/MPU9250_MS5637> one?

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On Fri, Sep 7, 2018 at 12:03 PM MiloMindbender ***@***.***> wrote: @kriswiner <https://github.com/kriswiner> I'm a little confused looking at your ESP32 repository and your MPU9250 repository. I'm using a Sparkfun 9250 breakout ( https://www.sparkfun.com/products/13762) and an Adafruit Feather ESP32 board. Between these two repositories you have a number of MPU9250 sketches and I'm a bit confused about which one is most appropriate for the setup I'm running. I'm looking to get sensor fusion for a balancing robot. My robot runs it's main loop every 10ms and I want to get/fuse "latest" data from the sensor at the top of the loop. I've tried sparkfun's 9250 repositories but theirs all seem broken in some way. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#17>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGY1qp7JI_6FL-Hsr6tSsazDnA82hb7uks5uYsMcgaJpZM4WfU5t> .

[MiloMindbender]

It's not building for me, MadgwickQuaternionUpdate not declared in this scope.

Did I miss a library/file I need to get from someplace else? Didn't see anything in a readme.

[kriswiner]

Add the filter file to your sketch using the tab...

…

On Fri, Sep 7, 2018 at 1:46 PM MiloMindbender ***@***.***> wrote: It's not building for me, MadgwickQuaternionUpdate not declared in this scope. Did I miss a library/file I need to get from someplace else? Didn't see anything in a readme. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#17 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGY1qkIeLoqW8VxkxqtKnb2i8nUkZRQeks5uYtsygaJpZM4WfU5t> .

[MiloMindbender]

Sorry to be such a dummy, but now I'm getting errors in the wire.h include file.

In file included from C:\Users\gcorson\Downloads\ESP32-master\ESP32-master\MPU9250_MS5637\MPU9250_MS5637_AHRS\MPU9250_MS5637_AHRS.ino:29:0:

C:\Users\gcorson\Documents\Arduino\hardware\espressif\esp32\libraries\Wire\src/Wire.h: In function 'uint8_t readByte(uint8_t, uint8_t)':

C:\Users\gcorson\Documents\Arduino\hardware\espressif\esp32\libraries\Wire\src/Wire.h:99:13: note: candidate 1: uint8_t TwoWire::requestFrom(int, int)

 uint8_t requestFrom(int address, int size);

         ^

C:\Users\gcorson\Documents\Arduino\hardware\espressif\esp32\libraries\Wire\src/Wire.h:97:13: note: candidate 2: uint8_t TwoWire::requestFrom(uint8_t, uint8_t)

 uint8_t requestFrom(uint8_t address, uint8_t size);

         ^

Archiving built core (caching) in: C:\Users\gcorson\AppData\Local\Temp\arduino_cache_78456\core\core_espressif_esp32_featheresp32_FlashFreq_80,UploadSpeed_921600,DebugLevel_verbose_69dfa191d1244698fa99bf793b8c9f27.a

[MiloMindbender]

@kriswiner Sorry, apparently it still built, but when I run it doesn't connect to my MPU9250

[V][esp32-hal-i2c.c:1436] i2cInit(): num=0 sda=21 scl=22 freq=400000
[V][esp32-hal-i2c.c:1621] i2cSetFrequency(): Fifo threshold=9
Scanning...
No I2C devices found

MPU9250 9-axis motion sensor...
MPU9250 I AM 0 I should be 71
Could not connect to MPU9250: 0x0

[MiloMindbender]

Looks like pins 21 and 22 are not the SDA and SCL pins on my ESP32. Changed to Wire.begin()

Now it finds the chip, but the output I get for the sensors never changes.

[V][esp32-hal-i2c.c:1436] i2cInit(): num=0 sda=23 scl=22 freq=0
[V][esp32-hal-i2c.c:1621] i2cSetFrequency(): Fifo threshold=3
Scanning...
I2C device found at address 0x0C !
I2C device found at address 0x68 !
done

MPU9250 9-axis motion sensor...
MPU9250 I AM 71 I should be 71
MPU9250 is online...
x-axis self test: acceleration trim within : 1.2% of factory value
y-axis self test: acceleration trim within : 0.3% of factory value
z-axis self test: acceleration trim within : 2.2% of factory value
x-axis self test: gyration trim within : -4.3% of factory value
y-axis self test: gyration trim within : -0.6% of factory value
z-axis self test: gyration trim within : 0.9% of factory value
Calibrate gyro and accel
accel biases (mg)
36.93
102.11
17.94
gyro biases (dps)
-1.88
1.93
-0.58
MPU9250 initialized for active data mode....
AK8963 I AM 48 I should be 48
AK8963 initialized for active data mode....
Mag Calibration: Wave device in a figure eight until done!
Mag Calibration done!
AK8963 mag biases (mG)
87.15
45.39
-115.97
AK8963 mag scale (mG)
0.92
0.92
1.20
X-Axis sensitivity adjustment value 1.21
Y-Axis sensitivity adjustment value 1.21
Z-Axis sensitivity adjustment value 1.17
MS5637 pressure sensor reset...
PROM dta read:
C0 = 12032
C1 = 12032
C2 = 12032
C3 = 12032
C4 = 12032
C5 = 12032
C6 = 12032
Checksum = 8 , should be 2
ax = 0.00 ay = 0.00 az = 0.00 mg
gx = 0.00 gy = 0.00 gz = 0.00 deg/s
mx = 0 my = 0 mz = 0 mG
q0 = 1.00 qx = 0.00 qy = 0.00 qz = 0.00
Gyro temperature is 32.3 degrees C
Digital temperature value = -10.34 C
Digital temperature value = 13.38 F
Digital pressure value = -268.76 mbar
Altitude = nan feet
Yaw, Pitch, Roll: 13.80, 0.00, 0.00
Grav_x, Grav_y, Grav_z: 0.00, 0.00, 1000.00 mg
Lin_ax, Lin_ay, Lin_az: 0.00, 0.00, -1000.00 mg
sumCount = 0
sum = 0.00
rate = nan Hz
ax = 0.00 ay = 0.00 az = 0.00 mg
gx = 0.00 gy = 0.00 gz = 0.00 deg/s
mx = 0 my = 0 mz = 0 mG
q0 = 1.00 qx = 0.00 qy = 0.00 qz = 0.00
Gyro temperature is 32.3 degrees C
Digital temperature value = -10.32 C
Digital temperature value = 13.42 F
Digital pressure value = -268.72 mbar
Altitude = nan feet
Yaw, Pitch, Roll: 13.80, 0.00, 0.00
Grav_x, Grav_y, Grav_z: 0.00, 0.00, 1000.00 mg
Lin_ax, Lin_ay, Lin_az: 0.00, 0.00, -1000.00 mg
sumCount = 0
sum = 0.00
rate = nan Hz
ax = 0.00 ay = 0.00 az = 0.00 mg
gx = 0.00 gy = 0.00 gz = 0.00 deg/s
mx = 0 my = 0 mz = 0 mG
q0 = 1.00 qx = 0.00 qy = 0.00 qz = 0.00
Gyro temperature is 32.3 degrees C
Digital temperature value = -10.36 C
Digital temperature value = 13.35 F

[kriswiner]

Do you have the interrupt pin properly specified?

…

On Fri, Sep 7, 2018 at 2:32 PM MiloMindbender ***@***.***> wrote: Reopened #17 <#17>. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#17 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGY1qtrWd5WNY-P8hK7soX5hf-55QCaoks5uYuYJgaJpZM4WfU5t> .

[MiloMindbender]

I just noticed this, your hookup guide in the comments didn't mention the interrupt pin at all so I missed it.

Is there a sketch that doesn't need the interrupt pin? None of sparkfun's stuff requires it so the int pin isn't tied to the breadboard right now....

[MiloMindbender]

I should say, thanks very much for all your work, it is really appreciated. I've been having so much trouble ferriting out stuff that works. Sparkfun has 3 repositories for this board, all out of date, two with serious bugs. They have hacked some of your code, mention using interrupts but they have changed the code to not use them (but leaving comments/code about interrupts in) so getting this 9250 working has been very confusing!

Also, the Invensense DMP stuff furthers the confusion by talking about having 9dof fusion on-chip when they really only have 6 (the mag stuff is done in the MCU).

Anyway, I think I can use sparkfun's method for not using interrupts
if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)

The robot I'm working on has a precise timed main loop every 10ms, so I really want to get the sensor data at the top of that loop every time. Do you have any recommendation for keeping in sync with the 9250?

[kriswiner]

Use the interrupt...

…

On Fri, Sep 7, 2018 at 2:55 PM MiloMindbender ***@***.***> wrote: I should say, thanks very much for all your work, it is really appreciated. I've been having so much trouble ferriting out stuff that works. Sparkfun has 3 repositories for this board, all out of date, two with serious bugs. They have hacked some of your code, mention using interrupts but they have changed the code to not use them (but leaving comments/code about interrupts in) so getting this 9250 working has been very confusing! Also, the Invensense DMP stuff furthers the confusion by talking about having 9dof fusion on-chip when they really only have 6 (the mag stuff is done in the MCU). Anyway, I think I can use sparkfun's method for not using interrupts if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) The robot I'm working on has a precise timed main loop every 10ms, so I really want to get the sensor data at the top of that loop every time. Do you have any recommendation for keeping in sync with the 9250? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#17 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGY1qkXZCvYgcVJspuBSHO9mUvmQnci8ks5uYuttgaJpZM4WfU5t> .

[MiloMindbender]

My issue (and maybe this isn't really an issue) is if my main loop is 100hz and I set the IMU to 100hz they will gradually drift out of sync and the data available at the top of the loop could potentially be almost 10 ms old. If I turn the IMU to 200hz, then I only get a sample representative of the last 5ms and not the whole 10ms loop time.

I could set the IMU to 100hz and sync the main loop to the interrupt but if I have more than one sensor that needs to be synced up, that doesn't work either.

Maybe this doesn't matter to, I'm not sure. I'm just trying not to do anything stupid because getting a smooth balancing robot seems to have a lot to do with not having variable latency or jitter in your sensor data.

Thanks for your help.

[kriswiner]

Set the gyro and accel sample rates to 1 kHz. You might need to use something better than a poky AVR MCU...

…

On Fri, Sep 7, 2018 at 4:32 PM MiloMindbender ***@***.***> wrote: My issue (and maybe this isn't really an issue) is if my main loop is 100hz and I set the IMU to 100hz they will gradually drift out of sync and the data available at the top of the loop could potentially be almost 10 ms old. If I turn the IMU to 200hz, then I only get a sample representative of the last 5ms and not the whole 10ms loop time. I could set the IMU to 100hz and sync the main loop to the interrupt but if I have more than one sensor that needs to be synced up, that doesn't work either. Maybe this doesn't matter to, I'm not sure. I'm just trying not to do anything stupid because getting a smooth balancing robot seems to have a lot to do with not having variable latency or jitter in your sensor data. Thanks for your help. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#17 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGY1qma_NiHiH4nkYJ-LN9bgwRnir1ycks5uYwITgaJpZM4WfU5t> .

[kriswiner]

Set the gyro and accel rates to 1 kHz and simply read both plus mag data (100 Hz) at the top of the loop. The important one is the gyro, this way the PID loop sees the freshest daya available, no interrupt or status register polling needed. On Fri, Sep 7, 2018 at 4:37 PM Tlera Corporation <tleracorp@gmail.com> wrote:

…

Set the gyro and accel sample rates to 1 kHz. You might need to use something better than a poky AVR MCU... On Fri, Sep 7, 2018 at 4:32 PM MiloMindbender ***@***.***> wrote: > My issue (and maybe this isn't really an issue) is if my main loop is > 100hz and I set the IMU to 100hz they will gradually drift out of sync and > the data available at the top of the loop could potentially be almost 10 ms > old. If I turn the IMU to 200hz, then I only get a sample representative of > the last 5ms and not the whole 10ms loop time. > > I could set the IMU to 100hz and sync the main loop to the interrupt but > if I have more than one sensor that needs to be synced up, that doesn't > work either. > > Maybe this doesn't matter to, I'm not sure. I'm just trying not to do > anything stupid because getting a smooth balancing robot seems to have a > lot to do with not having variable latency or jitter in your sensor data. > > Thanks for your help. > > — > You are receiving this because you were mentioned. > Reply to this email directly, view it on GitHub > <#17 (comment)>, > or mute the thread > <https://github.com/notifications/unsubscribe-auth/AGY1qma_NiHiH4nkYJ-LN9bgwRnir1ycks5uYwITgaJpZM4WfU5t> > . >