Hi,
I received my Teensy 3.2 the other day and haven't done anything other than 'Hello world' on it so apologies if I've missed something really obvious. I'm trying to connect it with an mpu9250 imu. This MPU9250 works well with an Arduino Uno. When I scan the mpu9250 with a I2C scanning code on the Arduino, it shows up as 0x68 (the accelerometers/gyros) and 0x0C (the magnetometers).
When I scan the mpu9250 using basic_scanner.ino (found here https://github.com/nox771/i2c_t3/blob/master/examples/basic_scanner/basic_scanner.ino), nothing happens, it doesn't even get as far as Serial.print("---------------------------------------------------\n");
Scanning using this
It prints:
It finds the accelerometers/gyros but not the magnetometers.
When I try to run https://github.com/nox771/i2c_t3/blob/master/examples/basic_scanner/basic_scanner.ino it prints:
I run a similar code on the Arduino Uno and that code works:
I have tried with and without 4.7kohm pull up resistors. I use the Arduino IDE with the Teensy loader on Windows 10.
Here is a photo of the wiring:
I'd be very grateful for any pointers on what I could be doing wrong.
I received my Teensy 3.2 the other day and haven't done anything other than 'Hello world' on it so apologies if I've missed something really obvious. I'm trying to connect it with an mpu9250 imu. This MPU9250 works well with an Arduino Uno. When I scan the mpu9250 with a I2C scanning code on the Arduino, it shows up as 0x68 (the accelerometers/gyros) and 0x0C (the magnetometers).
When I scan the mpu9250 using basic_scanner.ino (found here https://github.com/nox771/i2c_t3/blob/master/examples/basic_scanner/basic_scanner.ino), nothing happens, it doesn't even get as far as Serial.print("---------------------------------------------------\n");
Scanning using this
Code:
// i2c_scanner
//
// Version 1
// This program (or code that looks like it)
// can be found in many places.
// For example on the Arduino.cc forum.
// The original author is not know.
// Version 2, Juni 2012, Using Arduino 1.0.1
// Adapted to be as simple as possible by Arduino.cc user Krodal
// Version 3, Feb 26 2013
// V3 by louarnold
// Version 4, March 3, 2013, Using Arduino 1.0.3
// by Arduino.cc user Krodal.
// Changes by louarnold removed.
// Scanning addresses changed from 0...127 to 1...119,
// according to the i2c scanner by Nick Gammon
// http://www.gammon.com.au/forum/?id=10896
// Version 5, March 28, 2013
// As version 4, but address scans now to 127.
// A sensor seems to use address 120.
//
//
// This sketch tests the standard 7-bit addresses
// Devices with higher bit address might not be seen properly.
//
#include <i2c_t3.h>
void setup()
{
Wire.begin();
Serial.begin(9600);
Serial.println("\nI2C Scanner");
}
void loop()
{
byte error, address;
int nDevices;
Serial.println("Scanning...");
nDevices = 0;
for(address = 1; address < 127; address++ )
{
// The i2c_scanner uses the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
Wire.beginTransmission(address);
error = Wire.endTransmission();
if (error == 0)
{
Serial.print("I2C device found at address 0x");
if (address<16)
Serial.print("0");
Serial.print(address,HEX);
Serial.println(" !");
nDevices++;
}
else if (error==4)
{
Serial.print("Unknow error at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
}
}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");
delay(5000); // wait 5 seconds for next scan
}
It prints:
Scanning...
I2C device found at address 0x68 !
done
It finds the accelerometers/gyros but not the magnetometers.
When I try to run https://github.com/nox771/i2c_t3/blob/master/examples/basic_scanner/basic_scanner.ino it prints:
MPU9250 I AM FF I should be 71
Could not connect to MPU9250: 0xFF
I run a similar code on the Arduino Uno and that code works:
Code:
/* MPU9250 Basic Example Code
by: Kris Winer
date: April 1, 2014
license: Beerware - Use this code however you'd like. If you
find it useful you can buy me a beer some time.
Modified by Brent Wilkins July 19, 2016
Demonstrate basic MPU-9250 functionality including parameterizing the register
addresses, initializing the sensor, getting properly scaled accelerometer,
gyroscope, and magnetometer data out. Added display functions to allow display
to on breadboard monitor. Addition of 9 DoF sensor fusion using open source
Madgwick and Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini
and the Teensy 3.1.
SDA and SCL should have external pull-up resistors (to 3.3V).
10k resistors are on the EMSENSR-9250 breakout board.
Hardware setup:
MPU9250 Breakout --------- Arduino
VDD ---------------------- 3.3V
VDDI --------------------- 3.3V
SDA ----------------------- A4
SCL ----------------------- A5
GND ---------------------- GND
*/
#include "quaternionFilters.h"
#include "MPU9250.h"
#define AHRS true // Set to false for basic data read
#define SerialDebug true // Set to true to get Serial output for debugging
// Pin definitions
int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins
int myLed = 13; // Set up pin 13 led for toggling
MPU9250 myIMU;
void setup()
{
Wire.begin();
// TWBR = 12; // 400 kbit/sec I2C speed
Serial.begin(38400);
// Set up the interrupt pin, its set as active high, push-pull
pinMode(intPin, INPUT);
digitalWrite(intPin, LOW);
pinMode(myLed, OUTPUT);
digitalWrite(myLed, HIGH);
// Read the WHO_AM_I register, this is a good test of communication
byte c = myIMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
Serial.print(F("MPU9250 I AM 0x"));
Serial.print(c, HEX);
Serial.print(F(" I should be 0x"));
Serial.println(0x71, HEX);
if (c == 0x73) // WHO_AM_I should always be 0x71////CHANGED 71 TO 73
{
Serial.println(F("MPU9250 is online..."));
// Start by performing self test and reporting values
myIMU.MPU9250SelfTest(myIMU.selfTest);
Serial.print(F("x-axis self test: acceleration trim within : "));
Serial.print(myIMU.selfTest[0],1); Serial.println("% of factory value");
Serial.print(F("y-axis self test: acceleration trim within : "));
Serial.print(myIMU.selfTest[1],1); Serial.println("% of factory value");
Serial.print(F("z-axis self test: acceleration trim within : "));
Serial.print(myIMU.selfTest[2],1); Serial.println("% of factory value");
Serial.print(F("x-axis self test: gyration trim within : "));
Serial.print(myIMU.selfTest[3],1); Serial.println("% of factory value");
Serial.print(F("y-axis self test: gyration trim within : "));
Serial.print(myIMU.selfTest[4],1); Serial.println("% of factory value");
Serial.print(F("z-axis self test: gyration trim within : "));
Serial.print(myIMU.selfTest[5],1); Serial.println("% of factory value");
// Calibrate gyro and accelerometers, load biases in bias registers
// myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);
myIMU.initMPU9250();
// Initialize device for active mode read of acclerometer, gyroscope, and
// temperature
Serial.println("MPU9250 initialized for active data mode....");
// Read the WHO_AM_I register of the magnetometer, this is a good test of
// communication
//// byte d = myIMU.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963);
////Serial.print("AK8963 ");
//// Serial.print("I AM 0x");
//// Serial.print(d, HEX);
//// Serial.print(" I should be 0x");
////Serial.println(0x48, HEX);
//// if (d != 0x48)
////{
// Communication failed, stop here
////Serial.println(F("Communication failed, abort!"));
////Serial.flush();
////abort();
////}
// Get magnetometer calibration from AK8963 ROM
myIMU.initAK8963(myIMU.factoryMagCalibration);
// Initialize device for active mode read of magnetometer
Serial.println("AK8963 initialized for active data mode....");
if (SerialDebug)
{
// Serial.println("Calibration values: ");
Serial.print("X-Axis factory sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[0], 2);
Serial.print("Y-Axis factory sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[1], 2);
Serial.print("Z-Axis factory sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[2], 2);
}
// Get sensor resolutions, only need to do this once
myIMU.getAres();
myIMU.getGres();
myIMU.getMres();
// The next call delays for 4 seconds, and then records about 15 seconds of
// data to calculate bias and scale.
//// myIMU.magCalMPU9250(myIMU.magBias, myIMU.magScale);
//// Serial.println("AK8963 mag biases (mG)");
//// Serial.println(myIMU.magBias[0]);
//// Serial.println(myIMU.magBias[1]);
//// Serial.println(myIMU.magBias[2]);
//// Serial.println("AK8963 mag scale (mG)");
//// Serial.println(myIMU.magScale[0]);
//// Serial.println(myIMU.magScale[1]);
//// Serial.println(myIMU.magScale[2]);
////delay(2000); // Add delay to see results before serial spew of data
if(SerialDebug)
{
Serial.println("Magnetometer:");
Serial.print("X-Axis sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[0], 2);
Serial.print("Y-Axis sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[1], 2);
Serial.print("Z-Axis sensitivity adjustment value ");
Serial.println(myIMU.factoryMagCalibration[2], 2);
}
} // if (c == 0x71)
else
{
Serial.print("Could not connect to MPU9250: 0x");
Serial.println(c, HEX);
// Communication failed, stop here
Serial.println(F("Communication failed, abort!"));
Serial.flush();
abort();
}
}
void loop()
{
// If intPin goes high, all data registers have new data
// On interrupt, check if data ready interrupt
if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
{
myIMU.readAccelData(myIMU.accelCount); // Read the x/y/z adc values
// Now we'll calculate the accleration value into actual g's
// This depends on scale being set
myIMU.ax = ((float)myIMU.accelCount[0] * myIMU.aRes)-0.022;// - 0.015; // - myIMU.accelBias[0]
myIMU.ay = ((float)myIMU.accelCount[1] * myIMU.aRes)-0.021;// - 0.022;// - myIMU.accelBias[1]
myIMU.az = ((float)myIMU.accelCount[2] * myIMU.aRes)-0.016; //- 0.018;// - myIMU.accelBias[2
myIMU.readGyroData(myIMU.gyroCount); // Read the x/y/z adc values
// Calculate the gyro value into actual degrees per second
// This depends on scale being set
myIMU.gx = (float)myIMU.gyroCount[0] * myIMU.gRes+0.69; //
myIMU.gy = (float)myIMU.gyroCount[1] * myIMU.gRes-0.03;
myIMU.gz = (float)myIMU.gyroCount[2] * myIMU.gRes+0.23;
myIMU.readMagData(myIMU.magCount); // Read the x/y/z adc values
// Calculate the magnetometer values in milliGauss
// Include factory calibration per data sheet and user environmental
// corrections
// Get actual magnetometer value, this depends on scale being set
myIMU.mx = (float)myIMU.magCount[0] * myIMU.mRes
* myIMU.factoryMagCalibration[0] - 45 ; ////
myIMU.my = (float)myIMU.magCount[1] * myIMU.mRes
* myIMU.factoryMagCalibration[1] -177.5 ; ////303.5 myIMU.magBias[1]
myIMU.mz = (float)myIMU.magCount[2] * myIMU.mRes
* myIMU.factoryMagCalibration[2] + 327.5;// 133.5 myIMU.magBias[2]
} // if (readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01)
// Must be called before updating quaternions!
myIMU.updateTime();
// Sensors x (y)-axis of the accelerometer is aligned with the y (x)-axis of
// the magnetometer; the magnetometer z-axis (+ down) is opposite to z-axis
// (+ up) of accelerometer and gyro! We have to make some allowance for this
// orientationmismatch in feeding the output to the quaternion filter. For the
// MPU-9250, we have chosen a magnetic rotation that keeps the sensor forward
// along the x-axis just like in the LSM9DS0 sensor. This rotation can be
// modified to allow any convenient orientation convention. This is ok by
// aircraft orientation standards! Pass gyro rate as rad/s
MahonyQuaternionUpdate(myIMU.ax, myIMU.ay, myIMU.az, myIMU.gx * DEG_TO_RAD,
myIMU.gy * DEG_TO_RAD, myIMU.gz * DEG_TO_RAD, myIMU.my,
myIMU.mx, -myIMU.mz, myIMU.deltat); ///////////////
if (!AHRS)
{
myIMU.delt_t = millis() - myIMU.count;
if (myIMU.delt_t > 50) //chamged from 200
{
if(SerialDebug)
{
// Print acceleration values in milligs!
Serial.print("X-acceleration: "); Serial.print(1000 * myIMU.ax);
Serial.print(" mg ");
Serial.print("Y-acceleration: "); Serial.print(1000 * myIMU.ay);
Serial.print(" mg ");
Serial.print("Z-acceleration: "); Serial.print(1000 * myIMU.az);
Serial.println(" mg ");
// Print gyro values in degree/sec
Serial.print("X-gyro rate: "); Serial.print(myIMU.gx, 3);
Serial.print(" degrees/sec ");
Serial.print("Y-gyro rate: "); Serial.print(myIMU.gy, 3);
Serial.print(" degrees/sec ");
Serial.print("Z-gyro rate: "); Serial.print(myIMU.gz, 3);
Serial.println(" degrees/sec");
// Print mag values in degree/sec
Serial.print("X-mag field: "); Serial.print(myIMU.mx);
Serial.print(" mG ");
Serial.print("Y-mag field: "); Serial.print(myIMU.my);
Serial.print(" mG ");
Serial.print("Z-mag field: "); Serial.print(myIMU.mz);
Serial.println(" mG");
myIMU.tempCount = myIMU.readTempData(); // Read the adc values
// Temperature in degrees Centigrade
myIMU.temperature = ((float) myIMU.tempCount) / 333.87 + 21.0;
// Print temperature in degrees Centigrade
Serial.print("Temperature is "); Serial.print(myIMU.temperature, 1);
Serial.println(" degrees C");
}
myIMU.count = millis();
digitalWrite(myLed, !digitalRead(myLed)); // toggle led
} // if (myIMU.delt_t > 50)
} // if (!AHRS)
else
{
// Serial print and/or display at 0.5 s rate independent of data rates ////now 0.05s
myIMU.delt_t = millis() - myIMU.count;
// update LCD once per half-second independent of read rate //// change the number 50 below to increase serial data output rate
if (myIMU.delt_t > 50)
{
if(SerialDebug)
{
Serial.print("ax = "); Serial.print((int)1000 * myIMU.ax);
Serial.print(" ay = "); Serial.print((int)1000 * myIMU.ay);
Serial.print(" az = "); Serial.print((int)1000 * myIMU.az);
Serial.println(" mg");
Serial.print("gx = "); Serial.print(myIMU.gx, 2);
Serial.print(" gy = "); Serial.print(myIMU.gy, 2);
Serial.print(" gz = "); Serial.print(myIMU.gz, 2);
Serial.println(" deg/s");
Serial.print("mx = "); Serial.print((int)myIMU.mx);
Serial.print(" my = "); Serial.print((int)myIMU.my);
Serial.print(" mz = "); Serial.print((int)myIMU.mz);
Serial.println(" mG");
Serial.print("q0 = "); Serial.print(*getQ());
Serial.print(" qx = "); Serial.print(*(getQ() + 1));
Serial.print(" qy = "); Serial.print(*(getQ() + 2));
Serial.print(" qz = "); Serial.println(*(getQ() + 3));
myIMU.tempCount = myIMU.readTempData(); // Read the adc values
// Temperature in degrees Centigrade
myIMU.temperature = ((float) myIMU.tempCount) / 333.87 + 21.0;
// Print temperature in degrees Centigrade
Serial.print("Temperature is "); Serial.print(myIMU.temperature, 1);
Serial.println(" degrees C");
}
// Define output variables from updated quaternion---these are Tait-Bryan
// angles, commonly used in aircraft orientation. In this coordinate system,
// the positive z-axis is down toward Earth. Yaw is the angle between Sensor
// x-axis and Earth magnetic North (or true North if corrected for local
// declination, looking down on the sensor positive yaw is counterclockwise.
// Pitch is angle between sensor x-axis and Earth ground plane, toward the
// Earth is positive, up toward the sky is negative. Roll is angle between
// sensor y-axis and Earth ground plane, y-axis up is positive roll. These
// arise from the definition of the homogeneous rotation matrix constructed
// from quaternions. Tait-Bryan angles as well as Euler angles are
// non-commutative; that is, the get the correct orientation the rotations
// must be applied in the correct order which for this configuration is yaw,
// pitch, and then roll.
// For more see
// [url]http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles[/url]
// which has additional links.
myIMU.yaw = atan2(2.0f * (*(getQ()+1) * *(getQ()+2) + *getQ()
* *(getQ()+3)), *getQ() * *getQ() + *(getQ()+1)
* *(getQ()+1) - *(getQ()+2) * *(getQ()+2) - *(getQ()+3)
* *(getQ()+3));
myIMU.pitch = -asin(2.0f * (*(getQ()+1) * *(getQ()+3) - *getQ()
* *(getQ()+2)));
myIMU.roll = atan2(2.0f * (*getQ() * *(getQ()+1) + *(getQ()+2)
* *(getQ()+3)), *getQ() * *getQ() - *(getQ()+1)
* *(getQ()+1) - *(getQ()+2) * *(getQ()+2) + *(getQ()+3)
* *(getQ()+3));
myIMU.pitch *= RAD_TO_DEG;
myIMU.yaw *= RAD_TO_DEG;
// Declination of SparkFun Electronics (40°05'26.6"N 105°11'05.9"W) is
// 8° 30' E ± 0° 21' (or 8.5°) on 2016-07-19
// -
myIMU.yaw -= 0; //put the declination here,
myIMU.roll *= RAD_TO_DEG;
if(SerialDebug)
{
Serial.print("Yaw, Pitch, Roll: ");
Serial.print(myIMU.yaw, 2);
Serial.print(", ");
Serial.print(myIMU.pitch, 2);
Serial.print(", ");
Serial.println(myIMU.roll, 2);
Serial.print("rate = ");
Serial.print((float)myIMU.sumCount / myIMU.sum, 2);
Serial.println(" Hz");
}
// With these settings the filter is updating at a ~145 Hz rate using the
// Madgwick scheme and >200 Hz using the Mahony scheme even though the
// display refreshes at only 2 Hz. The filter update rate is determined
// mostly by the mathematical steps in the respective algorithms, the
// processor speed (8 MHz for the 3.3V Pro Mini), and the magnetometer ODR:
// an ODR of 10 Hz for the magnetometer produce the above rates, maximum
// magnetometer ODR of 100 Hz produces filter update rates of 36 - 145 and
// ~38 Hz for the Madgwick and Mahony schemes, respectively. This is
// presumably because the magnetometer read takes longer than the gyro or
// accelerometer reads. This filter update rate should be fast enough to
// maintain accurate platform orientation for stabilization control of a
// fast-moving robot or quadcopter. Compare to the update rate of 200 Hz
// produced by the on-board Digital Motion Processor of Invensense's MPU6050
// 6 DoF and MPU9150 9DoF sensors. The 3.3 V 8 MHz Pro Mini is doing pretty
// well!
myIMU.count = millis();
myIMU.sumCount = 0;
myIMU.sum = 0;
} // if (myIMU.delt_t > 500)
} // if (AHRS)
}
I have tried with and without 4.7kohm pull up resistors. I use the Arduino IDE with the Teensy loader on Windows 10.
Here is a photo of the wiring:
I'd be very grateful for any pointers on what I could be doing wrong.
Last edited: