sketch not compiling for MPU6050 and i2cdev on a Feather M0

[Phisch]

Hi!

 

I'm a arduino-noob, so please be kind. I have a prob understanding why my simple sketch is not compiling on a Feather M0 connected to a MPU6050 (on a ArduinoNano all works fine).

 

I'm using the example-sketch "IMU_Zero" from the MPU6050 samples:

// MPU6050 offset-finder, based on Jeff Rowberg's MPU6050_RAW
// 2016-10-19 by Robert R. Fenichel (bob@fenichel.net)

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class
// 10/7/2011 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
//      2016-10-25 - requires inequality (Low < Target, High > Target) during expansion
//                   dynamic speed change when closing in
//      2016-10-22 - cosmetic changes
//      2016-10-19 - initial release
//      2013-05-08 - added multiple output formats
//                 - added seamless Fastwire support
//      2011-10-07 - initial release

/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2011 Jeff Rowberg

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

  If an MPU6050 is an ideal member of its tribe, is properly warmed up, is at
rest in a neutral position, and has been loaded with the best possible offsets, it
will report 0 for all accelerations and displacements, except for Z acceleration, 
for which it will report 16384 (that is, 2^14).  Your device probably won't do 
quite this well, but good offsets will all get the baseline outputs close to 
these target values.

  Put the MPU6050 in a flat and horizontal surface, and leave it operating for 
5-10 minutes so its temperature gets stabilized.

  Run this program.  A "----- done -----" line will indicate that it has done its best.

  The line just above that will look something like
    [567,567] --> [-1,2]  [-2223,-2223] --> [0,1] [1131,1132] --> [16374,16404] [155,156] --> [-1,1]  [-25,-24] --> [0,3] [5,6] --> [0,4]
As will have been shown in interspersed header lines, the six groups making up this
line describe the optimum offsets for the X acceleration, Y acceleration, Z acceleration,
X gyro, Y gyro, and Z gyro, respectively.  In the sample shown just above, the trial showed
that +567 was the best offset for the X acceleration, -2223 was best for Y acceleration, 
and so on.
===============================================
*/

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "MPU6050.h"

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include "Wire.h"
#endif

// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 accelgyro;
//MPU6050 accelgyro(0x69); // <-- use for AD0 high


const char LBRACKET = '[';
const char RBRACKET = ']';
const char COMMA    = ',';

const int iAx = 0;
const int iAy = 1;
const int iAz = 2;
const int iGx = 3;
const int iGy = 4;
const int iGz = 5;

const int NFast =  1000;    // the bigger, the better (but slower)
const int NSlow = 10000;    // ..
const int LinesBetweenHeaders = 5;
      int LowValue[6];
      int HighValue[6];
      int Smoothed[6];
      int LowOffset[6];
      int HighOffset[6];
      int Target[6];
      int LinesOut;
      int N;
      
void ForceHeader()
  { LinesOut = 99; }
    
void GetSmoothed()
  { int RawValue[6];
    long Sums[6];
    for (int i = iAx; i <= iGz; i++)
      { Sums[i] = 0; }

    for (int i = 1; i <= N; i++)
      { // get sums
        accelgyro.getMotion6(&RawValue[iAx], &RawValue[iAy], &RawValue[iAz], 
                             &RawValue[iGx], &RawValue[iGy], &RawValue[iGz]);
        for (int j = iAx; j <= iGz; j++)
          Sums[j] = Sums[j] + RawValue[j];
      } // get sums
    for (int i = iAx; i <= iGz; i++)
      { Smoothed[i] = (Sums[i] + N/2) / N ; }
  } // GetSmoothed

void Initialize()
  {
    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    Serial.begin(9600);

    // initialize device
    Serial.println("Initializing I2C devices...");
    accelgyro.initialize();

    // verify connection
    Serial.println("Testing device connections...");
    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
  } // Initialize

void SetOffsets(int TheOffsets[6])
  { accelgyro.setXAccelOffset(TheOffsets [iAx]);
    accelgyro.setYAccelOffset(TheOffsets [iAy]);
    accelgyro.setZAccelOffset(TheOffsets [iAz]);
    accelgyro.setXGyroOffset (TheOffsets [iGx]);
    accelgyro.setYGyroOffset (TheOffsets [iGy]);
    accelgyro.setZGyroOffset (TheOffsets [iGz]);
  } // SetOffsets

void ShowProgress()
  { if (LinesOut >= LinesBetweenHeaders)
      { // show header
        Serial.println("\tXAccel\t\t\tYAccel\t\t\t\tZAccel\t\t\tXGyro\t\t\tYGyro\t\t\tZGyro");
        LinesOut = 0;
      } // show header
    for (int i = iAx; i <= iGz; i++)
      { Serial.print(LBRACKET);
        Serial.print(LowOffset[i]),
        Serial.print(COMMA);
        Serial.print(HighOffset[i]);
        Serial.print("] --> [");
        Serial.print(LowValue[i]);
        Serial.print(COMMA);
        Serial.print(HighValue[i]);
        if (i == iGz)
          { Serial.println(RBRACKET); }
        else
          { Serial.print("]\t"); }
      }
    LinesOut++;
  } // ShowProgress

void PullBracketsOut()
  { boolean Done = false;
    int NextLowOffset[6];
    int NextHighOffset[6];

    SetOffsets(HighOffset);
    GetSmoothed();
    for (int i = iAx; i <= iGz; i++)
      { HighValue[i] = Smoothed[i]; // needed for ShowProgress
      } 
    
    while (!Done)
      { Done = true;
        SetOffsets(LowOffset);
        GetSmoothed();
        for (int i = iAx; i <= iGz; i++)
          { // got low values
            LowValue[i] = Smoothed[i];
            if (LowValue[i] >= Target[i])
              { Done = false;
                NextLowOffset[i] = LowOffset[i] - 1000;
              }
            else
              { NextLowOffset[i] = LowOffset[i]; }
          } // got low values
        ShowProgress();
        for (int i = iAx; i <= iGz; i++)
          { LowOffset[i] = NextLowOffset[i]; // had to wait until ShowProgress done
          } 
      } // keep going
      
    Done = false;
    while (!Done)
      { Done = true;
        SetOffsets(HighOffset);
        GetSmoothed();
        for (int i = iAx; i <= iGz; i++)
          { // got high values
            HighValue[i] = Smoothed[i];
            if (HighValue[i] <= Target[i])
              { Done = false;
                NextHighOffset[i] = HighOffset[i] + 1000;
              }
            else
              { NextHighOffset[i] = HighOffset[i]; }
          } // got high values
        ShowProgress();
        for (int i = iAx; i <= iGz; i++)
          { HighOffset[i] = NextHighOffset[i]; // had to wait until ShowProgress done
          }
     } // keep going
  } // PullBracketOut

void SetAveraging(int NewN)
  { N = NewN;
    Serial.print("averaging ");
    Serial.print(N);
    Serial.println(" readings each time");
   } // SetAveraging

void setup()
  { boolean StillWorking;
    int NewOffset[6];
    boolean AllBracketsNarrow;

    Initialize();
    for (int i = iAx; i <= iGz; i++)
      { // set targets and initial guesses
        Target[i] = 0; // must fix for ZAccel 
        HighOffset[i] = 0;
        LowOffset[i] = 0;
      } // set targets and initial guesses
    Target[iAz] = 16384;
    SetAveraging(NFast);
    
    Serial.println("expanding:");
    ForceHeader();
    PullBracketsOut();
    
    Serial.println("\nclosing in:");
    AllBracketsNarrow = false;
    ForceHeader();
    StillWorking = true;
    while (StillWorking) 
      { StillWorking = false;
        if (AllBracketsNarrow && (N == NFast))
          { SetAveraging(NSlow); }
        else
          { AllBracketsNarrow = true; }// tentative
        for (int i = iAx; i <= iGz; i++)
          { if (HighOffset[i] <= (LowOffset[i]+1))
              { NewOffset[i] = LowOffset[i]; }
            else
              { // binary search
                StillWorking = true;
                NewOffset[i] = (LowOffset[i] + HighOffset[i]) / 2;
                if (HighOffset[i] > (LowOffset[i] + 10))
                  { AllBracketsNarrow = false; }
              } // binary search
          }
        SetOffsets(NewOffset);
        GetSmoothed();
        for (int i = iAx; i <= iGz; i++)
          { // closing in
            if (Smoothed[i] > Target[i])
              { // use lower half
                HighOffset[i] = NewOffset[i];
                HighValue[i] = Smoothed[i];
              } // use lower half
            else
              { // use upper half
                LowOffset[i] = NewOffset[i];
                LowValue[i] = Smoothed[i];
              } // use upper half
          } // closing in
        ShowProgress();
      } // still working
    Serial.println("-------------- done --------------");
  } // setup
 
void loop()
  {
  } // loop

Though I get this error: 

Arduino: 1.6.12 (Windows 7), Board: "Adafruit Feather M0 (Native USB Port)"

C:\Users\User\Documents\Arduino\libraries\MPU6050\examples\IMU_Zero\IMU_Zero.ino: In function 'void GetSmoothed()':

IMU_Zero:115: error: no matching function for call to 'MPU6050::getMotion6(int*, int*, int*, int*, int*, int*)'

                              &RawValue[iGx], &RawValue[iGy], &RawValue[iGz]);

                                                                            ^

C:\Users\User\Documents\Arduino\libraries\MPU6050\examples\IMU_Zero\IMU_Zero.ino:115:76: note: candidate is:

In file included from C:\Users\User\Documents\Arduino\libraries\MPU6050\examples\IMU_Zero\IMU_Zero.ino:64:0:

C:\Users\User\Documents\Arduino\libraries\MPU6050/MPU6050.h:624:14: note: void MPU6050::getMotion6(int16_t*, int16_t*, int16_t*, int16_t*, int16_t*, int16_t*)

         void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);

              ^

C:\Users\User\Documents\Arduino\libraries\MPU6050/MPU6050.h:624:14: note:   no known conversion for argument 1 from 'int*' to 'int16_t* {aka short int*}'

exit status 1
no matching function for call to 'MPU6050::getMotion6(int*, int*, int*, int*, int*, int*)'

 

Maybe you can give me a hint what is happening here and why? The guys at Adafruit told me it's a thing about i2cdev but I have no clue what is going on.

 

kind regards!