porting of eMPL on QNX + ARM

Hi,
I'm trying to use the eMPL library inside QNX in order to use the MPU6050 with an ARM Processor.
I've started from the example that provided for the msp430 microcontroller.
So, as requested, I've implemented the following functions:

1) i2c_write implemented as mpu6050_i2c_write
2) i2c_read implemented as mpu6050_i2c_read
3) delay_ms implemented as mpu6050_delay_ms
4) get_ms implemented as mpu6050_get_ms
5) log_i implemented as printf
6) log_e implemented as printf

After that, I started calling the functions to get the MPU6050 working with the DMP, following the instructions provided inside the example.

I've compiled the code with just the symbol "MPU6050". Is this correct or do I need some other symbol?

Following the snippet of code taken from the main that managee the Inertial Sensor:

    int result;

unsigned char accel_fsr;

unsigned short gyro_rate, gyro_fsr;

unsigned long timestamp;



i2c_open();



result = mpu_init(NULL);



//if (result)

//msp430_reset();



/* If you're not using an MPU9150 AND you're not using DMP features, this

* function will place all slaves on the primary bus.

* mpu_set_bypass(1);

*/



/* Get/set hardware configuration. Start gyro. */

/* Wake up all sensors. */

mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL);

mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL);

mpu_set_sample_rate(DEFAULT_MPU_HZ);

mpu_get_sample_rate(&gyro_rate);

mpu_get_gyro_fsr(&gyro_fsr);

mpu_get_accel_fsr(&accel_fsr);



/* Initialize HAL state variables. */

memset(&hal, 0, sizeof(hal));

hal.sensors = ACCEL_ON | GYRO_ON;

hal.report = PRINT_QUAT;



/* To initialize the DMP:

* 1. Call dmp_load_motion_driver_firmware(). This pushes the DMP image in

*    inv_mpu_dmp_motion_driver.h into the MPU memory.

* 2. Push the gyro and accel orientation matrix to the DMP.

* 3. Register gesture callbacks. Don't worry, these callbacks won't be

*    executed unless the corresponding feature is enabled.

* 4. Call dmp_enable_feature(mask) to enable different features.

* 5. Call dmp_set_fifo_rate(freq) to select a DMP output rate.

* 6. Call any feature-specific control functions.

*

* To enable the DMP, just call mpu_set_dmp_state(1). This function can

* be called repeatedly to enable and disable the DMP at runtime.

*

* The following is a short summary of the features supported in the DMP

* image provided in inv_mpu_dmp_motion_driver.c:

* DMP_FEATURE_LP_QUAT: Generate a gyro-only quaternion on the DMP at

* 200Hz. Integrating the gyro data at higher rates reduces numerical

* errors (compared to integration on the MCU at a lower sampling rate).

* DMP_FEATURE_6X_LP_QUAT: Generate a gyro/accel quaternion on the DMP at

* 200Hz. Cannot be used in combination with DMP_FEATURE_LP_QUAT.

* DMP_FEATURE_TAP: Detect taps along the X, Y, and Z axes.

* DMP_FEATURE_ANDROID_ORIENT: Google's screen rotation algorithm. Triggers

* an event at the four orientations where the screen should rotate.

* DMP_FEATURE_GYRO_CAL: Calibrates the gyro data after eight seconds of

* no motion.

* DMP_FEATURE_SEND_RAW_ACCEL: Add raw accelerometer data to the FIFO.

* DMP_FEATURE_SEND_RAW_GYRO: Add raw gyro data to the FIFO.

* DMP_FEATURE_SEND_CAL_GYRO: Add calibrated gyro data to the FIFO. Cannot

* be used in combination with DMP_FEATURE_SEND_RAW_GYRO.

*/

dmp_load_motion_driver_firmware();

dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));

//dmp_register_tap_cb(tap_cb);

//dmp_register_android_orient_cb(android_orient_cb);



// Removed DMP_FEATURE_TAP e DMP_FEATURE_ANDROID_ORIENT

hal.dmp_features = DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL;



dmp_enable_feature(hal.dmp_features);

int flag_fifo_rate = dmp_set_fifo_rate(DEFAULT_MPU_HZ);

printf("dmp_set_fifo_rate(DEFAULT_MPU_HZ): %dn",flag_fifo_rate);

mpu_set_dmp_state(1);

hal.dmp_on = 1;



unsigned long loop_delay;

mpudata_t mpu;



memset(&mpu, 0, sizeof(mpudata_t));



// reading data

while(true)

{

short sensors;

unsigned char more;

return -1;



if (dmp_read_fifo(mpu.rawGyro, mpu.rawAccel, mpu.rawQuat, &mpu.dmpTimestamp, &sensors, &more) < 0) {

printf("dmp_read_fifo() failedn");

return -1;

}



while (more) {

// Fell behind, reading again

if (dmp_read_fifo(mpu.rawGyro, mpu.rawAccel, mpu.rawQuat, &mpu.dmpTimestamp, &sensors, &more) < 0) {

printf("dmp_read_fifo() failedn");

return -1;

}

}

}

During the Debug of the code, I see that up to the while loop, the code works fine since every function return 0 as value.
I get an error when I try to read the fifo with the following message:

dmp_read_fifo() failed

I don't understand if I'm missing something else. For example, inside the example, before calling the mpu_set_sensors(...) function, the following code is run:

    struct int_param_s int_param;

/* Set up MSP430 hardware. */

platform_init();



/* Set up gyro.

* Every function preceded by mpu_ is a driver function and can be found

* in inv_mpu.h.

*/

int_param.cb = gyro_data_ready_cb;

int_param.pin = INT_PIN_P20;

int_param.lp_exit = INT_EXIT_LPM0;

int_param.active_low = 1;

result = mpu_init(&int_param);

Going more in detail, I saw the platform_init() just initializes the i2c channel and USB. (In my case the i2c initialization is carried out by the i2c_open() function). Another problem is that, if I compile the code with the MPU6050 symbol, I don't have the following parameters available anymore:

/* Set up gyro.

* Every function preceded by mpu_ is a driver function and can be found

* in inv_mpu.h.

*/

int_param.cb = gyro_data_ready_cb;

int_param.pin = INT_PIN_P20;

int_param.lp_exit = INT_EXIT_LPM0;

int_param.active_low = 1;

Maybe is this a error?

Since I would read the calibrated data continuously, Do I strictly need to implement some routines for the interrupt management or not?

I also see that inside the mpu9150_init() the function msp430_reg_int_cb is called. Do I need to implement this function specifically for my platform?

i2c_open();

result = -1;

result = mpu_init(&int_param);

printf("Return value mpu_init(): %dn", result);

result = -1;

result = mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL);

printf("Return value mpu_set_sensors(): %dn", result);

/* Push both gyro and accel data into the FIFO. */

result = -1;

result = mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL);

printf("Return value mpu_configure_fifo(): %dn", result);

result = -1;

result = mpu_set_sample_rate(DEFAULT_MPU_HZ);

printf("Valore di ritorno mpu_set_sample_rate(): %dn", result);

/* Read back configuration in case it was set improperly. */

result = -1;

result = mpu_get_sample_rate(&gyro_rate);

printf("Return value mpu_get_sample_rate(): %dn", result);

result = -1;

result = mpu_get_gyro_fsr(&gyro_fsr);

printf("Return value mpu_get_gyro_fsr(): %dn", result);

result = -1;

result = mpu_get_accel_fsr(&accel_fsr);

printf("Return value mpu_get_accel_fsr(): %dn", result);



/* Initialize HAL state variables. */

memset(&hal, 0, sizeof(hal));

hal.sensors = ACCEL_ON | GYRO_ON;

hal.report = PRINT_QUAT;



int ret = dmp_load_motion_driver_firmware();

printf("dmp_load_motion_driver_firmware(): %dn", ret);

dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));

//dmp_register_tap_cb(tap_cb);

//dmp_register_android_orient_cb(android_orient_cb);

//hal.dmp_features = DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL;



// Eliminati DMP_FEATURE_TAP e DMP_FEATURE_ANDROID_ORIENT

hal.dmp_features = DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL;

dmp_enable_feature(hal.dmp_features);

int flag_fifo_rate = dmp_set_fifo_rate(DEFAULT_MPU_HZ);

printf("dmp_set_fifo_rate(DEFAULT_MPU_HZ): %dn",flag_fifo_rate);

mpu_set_dmp_state(1);

hal.dmp_on = 1;



unsigned long loop_delay;

mpudata_t mpu;



memset(&mpu, 0, sizeof(mpudata_t));

Half sensitivity part found.

Return value mpu_init(): 0

Return value mpu_set_sensors(): 0

Return value mpu_configure_fifo(): 0

Return value mpu_set_sample_rate(): 0

Return value mpu_get_sample_rate(): 0

Return value mpu_get_gyro_fsr(): 0

Return value mpu_get_accel_fsr(): 0

dmp_load_motion_driver_firmware(): 0

dmp_set_fifo_rate(DEFAULT_MPU_HZ): 0

printf("st.hw->addr; %X, st.reg->dmp_int_status: %Xn",st.hw->addr, st.reg->dmp_int_status);