RTL8720DN not working with MPU6050 0.6.0 arduino library

[rkuo2000]

MPU6050 & MPU9250 are very popular IMUs (3-axis accelerator, 3-axis gyroscope, 3-axis compass)
The Arduino MPU6050 library works well with ESP32, but hang if using RTL8720DN.

https://github.com/ElectronicCats/mpu6050

Could you tell why this I2Cdev.cpp are not compatible with RTL8720DN ? and find a fix to make RTL8720DN working with MPU6050 / MPU9250.

[xidameng]

Hi @rkuo2000

Thanks for reaching out to us. May I ask if you can elaborate on how it "hang if using RTL8720DN"?

Because, after fixing a small compilation issue (this will be fixed soon), the library you mentioned works well with RTL8720DN, no sign of hanging. Just FYI, I have tried both MPU6050_raw and IMU_Zera examples, both works fine.

If you don't mind, you can also try Adafruit_MPU6050 library which also works well with RTL8720DN.

[rkuo2000]

Hi, I changed to use MPU6050 v0.6.0 arduino library. Board: RTL8720DN (BW16-TypeC) IDE: Arduino 2.0.0 IMU library : MPU6050 v0.6.0 Sample Code : [MPU6050_DMP6_Teapot.ino]( https://github.com/rkuo2000/Arduino/tree/master/examples/IMU/MPU6050_DMP6_Teapot/MPU6050_DMP6_Teapot.ino ) Sympton 1. digitalPinToInterrupt(INTERRUPT_PIN) error digitalPinToInterrupt not supported ? After commented digitalPinToInterrupt, Symptom 2. printfloatX error because missing dtostrf After adding the following into MPU6050.cpp in library char *dtostrf (double val, signed char width, unsigned char prec, char *sout) { char fmt[20]; sprintf(fmt, "%%%d.%df", width, prec); sprintf(sout, fmt, val); return sout; } Sympton 3. successfully upload to RTL8720DN, but hang after mpu6050 initialization [MPU6050_DMP6_Teapot.ino](https://github.com/rkuo2000/Arduino/blob/master/examples/IMU/MPU6050_DMP6_Teapot/MPU6050_DMP6_Teapot.ino) Serial Monitor: Initializing I2C devices... I suspect it hang at mpu.initialize(); due to I2Cdev driver issue ? Richard

[xidameng]

Hi @rkuo2000

Symptom1: digitalPinToInterrupt(INTERRUPT_PIN) error
digitalPinToInterrupt is indeed NOT supported on Ameba D as of now, but adding it is very simple so it would be added in the upcoming release

Symptom 2. printfloatX error because missing dtostrf
This is already fixed in the PR above, please expect this fix in the next release

Sympton 3. successfully upload to RTL8720DN, but hang after mpu6050 initialization
There are a few changes needed to make, but after that, the example works on my side, check my log below

#calibration_ok:[2:19:11]
15:02:44.204 -> Initializing I2C devices...
15:02:44.204 -> Testing device connections...
15:02:44.204 -> MPU6050 connection successful
15:02:44.204 ->
15:02:44.204 -> Send any character to begin DMP programming and demo:
15:02:51.761 -> Initializing DMP...
15:02:52.372 -> >......>......
15:02:54.384 -> // X Accel Y Accel Z Accel X Gyro Y Gyro Z Gyro
15:02:54.384 -> //OFFSETS -6270, 483, 1638, 150, 70, 11
15:02:54.384 -> Enabling DMP...
15:02:54.384 -> Enabling interrupt detection (Arduino external interrupt 2)...
15:02:54.433 -> DMP ready! Waiting for first interrupt...
15:02:54.433 -> ypr 0.01 -0.01 0.44
15:02:54.433 -> ypr 0.01 -0.01 0.44
15:02:54.433 -> ypr 0.01 -0.01 0.43
15:02:54.480 -> ypr 0.01 -0.01 0.43

PS: I didn't use your code, as it's heavily modified. The code I used is this one
https://github.com/ElectronicCats/mpu6050/blob/master/examples/MPU6050_DMP6/MPU6050_DMP6.ino

Look out to my PR for all the changes and bug fixes

[xidameng]

Hi @rkuo2000

Please refer to PR #139 for fix to your issues.

Also, there are 2 things you need to change on your side,

1. On Arduino IDE, under Tools tab, look for Standard Lib Enable: menu, then choose Arduino_STD_PRINTF option. This would enable GCC standard lib such as <stdio.h> and and etc. so as to solve the Format not supported error

2. On top of your example code, re-define M_PI to PI macro
   #define M_PI PI

These 2 fixes are required to compile and run the example correctly, after these fix, the example works fine

Please note: All these fixes won't be available in your Arduino package until next release( in a couple weeks), unless you manually copy the changes to your 3.1.4 arduino package.

[M-ichae-l]

@xidameng has provide the solution, processed to closed the issue.