MPU6050 libs mit Kalman-Filter für Arduino und ohne Benutzung des Interrupt-Pins...?

HaWe · 25.09.2018, 16:40

Zitat von Michael

ach meiner Erfahrung funktioniert das

Im Beispiel Teapot findest du deine gewünschten Variablen. Processing musst du ja nicht benutzen.
n

Michael...?
welcher Link / welche Lib / welcher Beispielsketch denn nu...?

edit:
@Michael: Vermute, dein "Hinweis" war nur ne vage Luftnummer... :-/

**Michael** · 07.10.2018, 10:30

Zitat von HaWe

Michael...?
welcher Link / welche Lib / welcher Beispielsketch denn nu...?

edit:
@Michael: Vermute, dein "Hinweis" war nur ne vage Luftnummer... :-/

ah, ok, sehe deinen Satz jetzt erst.
Wenn du meinst.
So wirst du aber wenig Helfer finden.
Ich habe leider nicht so viel Zeit, dass ich auch noch die Google Suche präsentiere, obwohl alle Stichworte dabei waren.

Es ist durchaus ein interessantes Thema, aber ich klinke mich hier aus.
Wenn du irgendwann fähig bist, Leute wie mich nicht mehr vor den Kopf zu stoßen, bin ich auch gerne wieder dabei.

HaWe · 07.10.2018, 11:24

Zitat von Michael

ah, ok, sehe deinen Satz jetzt erst.
Wenn du meinst.
So wirst du aber wenig Helfer finden.
Ich habe leider nicht so viel Zeit, dass ich auch noch die Google Suche präsentiere, obwohl alle Stichworte dabei waren.

Es ist durchaus ein interessantes Thema, aber ich klinke mich hier aus.
Wenn du irgendwann fähig bist, Leute wie mich nicht mehr vor den Kopf zu stoßen, bin ich auch gerne wieder dabei.

Ich hatte dich bereits am 23.9. um eine Erklärung gebeten, doch da kam absolut nichts von dir. Auch nichts auf Nachfrage vom 25.9.
Inzwischen sind 2 Wochen ohne Antwort vergangen - so gesehen hast du dich ja noch nichtmal jemals "eingeklinkt", was heißt also hier "ich klinke mich hier aus"?
Wenn du also schon Hinweise geben willst, dann gib sie bitte mit genauem Link, keine vagen Google-Stichwort-Hinweise

Such mal nach MPU 6500 Sensor Fusion, da gibt es fertiges Arduino Zeugs (Teapot Demo)

So etwas mit "da gibt es fertiges Arduino Zeugs" kannst du dir wirklich sparen bei den unspezifischen, überholten und fehlleitenden Google-Treffern

also zurück zum Problem:

Zitat von HaWe

update:
neue Lib von
https://github.com/jrowberg/i2cdevli...rduino/MPU6050
mit example
https://github.com/jrowberg/i2cdevli...U6050_DMP6.ino

Code:

MPU6050_DMP6_002:279: error: '_BV' was not declared in this scope
if ((mpuIntStatus & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
                      ^
Bibliothek I2Cdev im Ordner: D:\Arduino\portable\libraries\I2Cdev (legacy) wird verwendet
Bibliothek Wire in Version 1.0 im Ordner: D:\arduino\portable\packages\adafruit\hardware\sam d\1.2.3\libraries\Wire wird verwendet
Bibliothek MPU6050 im Ordner: D:\Arduino\portable\libraries\MPU6050 (legacy) wird verwendet
exit status 1
'_BV' was not declared in this scope

für den Mega2560 lässt sich die Lib mit dem example immerhin kompilieren, nie aber für ARM cpus (M0, M3, M4) - wie kann man den Fehler beheben?

**Mxt** · 07.10.2018, 15:11

Nein, ich kenne mich nicht mit dem gefragten Bauteil aus, aber

error: '_BV' was not declared in this scope

ist der normale Fehler mit dem BV-Makro. Den hatte ich damals gleich bei der ersten Lib aus dem Internet, die ich beim Arduino Due verwendet habe. Merkwürdig, dass du den nicht kennst.

Bei der Lib steht ja dabei, dass sie 2015 für den Teensy 3.1 angepasst wurde, kann also kein allgemeines ARM-Problem sein, da das ein Cortex-M4 ist.

Es gibt halt die offizielle Arduino API (die Funktionen auf der Referenzseite) und inoffizielle Teile, die aus der internen Implementierung der AVR-Arduinos stammen. Viele 32-Bit "Arduinos" implementieren den inoffiziellen Teil nicht oder nur teilweise.

Abhilfe in diesem Fall, in der *.cpp wo der Fehler auftritt, oben zwischen #includes und dem Anfang des Quelltextes einfügen

Code:

#ifndef _BV
#define _BV(n) (1<<(n))
#endif

(Code aus core_pins.h vom Teensy)

HaWe · 07.10.2018, 15:21

hi, danke!
aber nein, von BV Makro noch nie was gehört, ich wüsste gar nicht, wer das wo benutzt, und was Teensy angeht, war ich für M0 und M4 schon skeptisch gewesen, denn wer weiß was der für Spezialcode für seine Spezialhardware verbaut hat (Zielanwendung verwendet den Feather M4, M0 und der Due dienten nur zur Fehlersuche).

Das hier probiere ich ntl gleich aus:

#ifndef _BV
#define _BV(n) (1<<(n))
#endif

Bin gespannt, danke nochmals!

- - - Aktualisiert - - -

update:
für den Due kompiliert er jetzt ohne Fehlermeldung, der ist aber für die Ziel-Anwendung als Plattform u.a. wegen der Größe nicht geeignet;

für den M4 aber wieder neue Fehler:

Code:

Arduino: 1.8.5 (Windows 7), Board: "Adafruit Feather M4 Express (SAMD51), Enabled"

D:\arduino\arduino-builder -dump-prefs -logger=machine -hardware D:\arduino\hardware -hardware D:\arduino\portable\packages -tools D:\arduino\tools-builder -tools D:\arduino\hardware\tools\avr -tools D:\arduino\portable\packages -built-in-libraries D:\arduino\libraries -libraries D:\Arduino\portable\libraries -fqbn=adafruit:samd:adafruit_feather_m4:cache=on -ide-version=10805 -build-path C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307 -warnings=all -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.arm-none-eabi-gcc.path=D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1 -prefs=runtime.tools.openocd.path=D:\arduino\portable\packages\arduino\tools\openocd\0.9.0-arduino -prefs=runtime.tools.CMSIS.path=D:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0 -prefs=runtime.tools.CMSIS-Atmel.path=D:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0 -prefs=runtime.tools.bossac.path=D:\arduino\portable\packages\arduino\tools\bossac\1.8.0-48-gb176eee -verbose D:\Akten\Programmierung\arduinoProgs\driver\MPU6050-h-Examples\MPU6050_DMP6_002\MPU6050_DMP6_002.ino
D:\arduino\arduino-builder -compile -logger=machine -hardware D:\arduino\hardware -hardware D:\arduino\portable\packages -tools D:\arduino\tools-builder -tools D:\arduino\hardware\tools\avr -tools D:\arduino\portable\packages -built-in-libraries D:\arduino\libraries -libraries D:\Arduino\portable\libraries -fqbn=adafruit:samd:adafruit_feather_m4:cache=on -ide-version=10805 -build-path C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307 -warnings=all -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.arm-none-eabi-gcc.path=D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1 -prefs=runtime.tools.openocd.path=D:\arduino\portable\packages\arduino\tools\openocd\0.9.0-arduino -prefs=runtime.tools.CMSIS.path=D:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0 -prefs=runtime.tools.CMSIS-Atmel.path=D:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0 -prefs=runtime.tools.bossac.path=D:\arduino\portable\packages\arduino\tools\bossac\1.8.0-48-gb176eee -verbose D:\Akten\Programmierung\arduinoProgs\driver\MPU6050-h-Examples\MPU6050_DMP6_002\MPU6050_DMP6_002.ino
Using board 'adafruit_feather_m4' from platform in folder: D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3
Using core 'arduino' from platform in folder: D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3
WARNUNG: Kategorie '' in der Bibliothek XPT2046 ist ungültig und wird auf 'Uncategorized' festgelegt
Build-Optionen wurden verändert, alles wird neu kompiliert
Detecting libraries used...
"D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1/bin/arm-none-eabi-g++" -mcpu=cortex-m4 -mthumb -c -g -Os -w -std=gnu++11 -ffunction-sections -fdata-sections -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions  -w -x c++ -E -CC -DF_CPU=120000000L -DARDUINO=10805 -DARDUINO_FEATHER_M4 -DARDUINO_ARCH_SAMD  -D__SAMD51J19A__  -DADAFRUIT_FEATHER_M4_EXPRESS  -D__SAMD51__ -DUSB_VID=0x239A -DUSB_PID=0x8022 -DUSBCON '-DUSB_MANUFACTURER="Adafruit LLC"' '-DUSB_PRODUCT="Adafruit Feather M4"' -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DENABLE_CACHE "-ID:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0/CMSIS/Include/" "-ID:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0/CMSIS/Device/ATMEL/" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\variants\feather_m4" "C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307\sketch\MPU6050_DMP6_002.ino.cpp" -o "nul"
"D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1/bin/arm-none-eabi-g++" -mcpu=cortex-m4 -mthumb -c -g -Os -w -std=gnu++11 -ffunction-sections -fdata-sections -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions  -w -x c++ -E -CC -DF_CPU=120000000L -DARDUINO=10805 -DARDUINO_FEATHER_M4 -DARDUINO_ARCH_SAMD  -D__SAMD51J19A__  -DADAFRUIT_FEATHER_M4_EXPRESS  -D__SAMD51__ -DUSB_VID=0x239A -DUSB_PID=0x8022 -DUSBCON '-DUSB_MANUFACTURER="Adafruit LLC"' '-DUSB_PRODUCT="Adafruit Feather M4"' -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DENABLE_CACHE "-ID:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0/CMSIS/Include/" "-ID:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0/CMSIS/Device/ATMEL/" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\variants\feather_m4" "-ID:\Arduino\portable\libraries\I2Cdev" "C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307\sketch\MPU6050_DMP6_002.ino.cpp" -o "nul"
"D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1/bin/arm-none-eabi-g++" -mcpu=cortex-m4 -mthumb -c -g -Os -w -std=gnu++11 -ffunction-sections -fdata-sections -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions  -w -x c++ -E -CC -DF_CPU=120000000L -DARDUINO=10805 -DARDUINO_FEATHER_M4 -DARDUINO_ARCH_SAMD  -D__SAMD51J19A__  -DADAFRUIT_FEATHER_M4_EXPRESS  -D__SAMD51__ -DUSB_VID=0x239A -DUSB_PID=0x8022 -DUSBCON '-DUSB_MANUFACTURER="Adafruit LLC"' '-DUSB_PRODUCT="Adafruit Feather M4"' -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DENABLE_CACHE "-ID:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0/CMSIS/Include/" "-ID:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0/CMSIS/Device/ATMEL/" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\variants\feather_m4" "-ID:\Arduino\portable\libraries\I2Cdev" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\libraries\Wire" "C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307\sketch\MPU6050_DMP6_002.ino.cpp" -o "nul"
"D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1/bin/arm-none-eabi-g++" -mcpu=cortex-m4 -mthumb -c -g -Os -w -std=gnu++11 -ffunction-sections -fdata-sections -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions  -w -x c++ -E -CC -DF_CPU=120000000L -DARDUINO=10805 -DARDUINO_FEATHER_M4 -DARDUINO_ARCH_SAMD  -D__SAMD51J19A__  -DADAFRUIT_FEATHER_M4_EXPRESS  -D__SAMD51__ -DUSB_VID=0x239A -DUSB_PID=0x8022 -DUSBCON '-DUSB_MANUFACTURER="Adafruit LLC"' '-DUSB_PRODUCT="Adafruit Feather M4"' -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DENABLE_CACHE "-ID:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0/CMSIS/Include/" "-ID:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0/CMSIS/Device/ATMEL/" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\variants\feather_m4" "-ID:\Arduino\portable\libraries\I2Cdev" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\libraries\Wire" "-ID:\Arduino\portable\libraries\MPU6050" "C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307\sketch\MPU6050_DMP6_002.ino.cpp" -o "nul"
"D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1/bin/arm-none-eabi-g++" -mcpu=cortex-m4 -mthumb -c -g -Os -w -std=gnu++11 -ffunction-sections -fdata-sections -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions  -w -x c++ -E -CC -DF_CPU=120000000L -DARDUINO=10805 -DARDUINO_FEATHER_M4 -DARDUINO_ARCH_SAMD  -D__SAMD51J19A__  -DADAFRUIT_FEATHER_M4_EXPRESS  -D__SAMD51__ -DUSB_VID=0x239A -DUSB_PID=0x8022 -DUSBCON '-DUSB_MANUFACTURER="Adafruit LLC"' '-DUSB_PRODUCT="Adafruit Feather M4"' -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DENABLE_CACHE "-ID:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0/CMSIS/Include/" "-ID:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0/CMSIS/Device/ATMEL/" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\variants\feather_m4" "-ID:\Arduino\portable\libraries\I2Cdev" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\libraries\Wire" "-ID:\Arduino\portable\libraries\MPU6050" "D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp" -o "nul"
"D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1/bin/arm-none-eabi-g++" -mcpu=cortex-m4 -mthumb -c -g -Os -w -std=gnu++11 -ffunction-sections -fdata-sections -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions  -w -x c++ -E -CC -DF_CPU=120000000L -DARDUINO=10805 -DARDUINO_FEATHER_M4 -DARDUINO_ARCH_SAMD  -D__SAMD51J19A__  -DADAFRUIT_FEATHER_M4_EXPRESS  -D__SAMD51__ -DUSB_VID=0x239A -DUSB_PID=0x8022 -DUSBCON '-DUSB_MANUFACTURER="Adafruit LLC"' '-DUSB_PRODUCT="Adafruit Feather M4"' -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DENABLE_CACHE "-ID:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0/CMSIS/Include/" "-ID:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0/CMSIS/Device/ATMEL/" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\variants\feather_m4" "-ID:\Arduino\portable\libraries\I2Cdev" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\libraries\Wire" "-ID:\Arduino\portable\libraries\MPU6050" "D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\libraries\Wire\Wire.cpp" -o "nul"
"D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1/bin/arm-none-eabi-g++" -mcpu=cortex-m4 -mthumb -c -g -Os -w -std=gnu++11 -ffunction-sections -fdata-sections -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions  -w -x c++ -E -CC -DF_CPU=120000000L -DARDUINO=10805 -DARDUINO_FEATHER_M4 -DARDUINO_ARCH_SAMD  -D__SAMD51J19A__  -DADAFRUIT_FEATHER_M4_EXPRESS  -D__SAMD51__ -DUSB_VID=0x239A -DUSB_PID=0x8022 -DUSBCON '-DUSB_MANUFACTURER="Adafruit LLC"' '-DUSB_PRODUCT="Adafruit Feather M4"' -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DENABLE_CACHE "-ID:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0/CMSIS/Include/" "-ID:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0/CMSIS/Device/ATMEL/" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\variants\feather_m4" "-ID:\Arduino\portable\libraries\I2Cdev" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\libraries\Wire" "-ID:\Arduino\portable\libraries\MPU6050" "D:\Arduino\portable\libraries\MPU6050\MPU6050.cpp" -o "nul"
Generating function prototypes...
"D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1/bin/arm-none-eabi-g++" -mcpu=cortex-m4 -mthumb -c -g -Os -w -std=gnu++11 -ffunction-sections -fdata-sections -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions  -w -x c++ -E -CC -DF_CPU=120000000L -DARDUINO=10805 -DARDUINO_FEATHER_M4 -DARDUINO_ARCH_SAMD  -D__SAMD51J19A__  -DADAFRUIT_FEATHER_M4_EXPRESS  -D__SAMD51__ -DUSB_VID=0x239A -DUSB_PID=0x8022 -DUSBCON '-DUSB_MANUFACTURER="Adafruit LLC"' '-DUSB_PRODUCT="Adafruit Feather M4"' -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DENABLE_CACHE "-ID:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0/CMSIS/Include/" "-ID:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0/CMSIS/Device/ATMEL/" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\variants\feather_m4" "-ID:\Arduino\portable\libraries\I2Cdev" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\libraries\Wire" "-ID:\Arduino\portable\libraries\MPU6050" "C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307\sketch\MPU6050_DMP6_002.ino.cpp" -o "C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307\preproc\ctags_target_for_gcc_minus_e.cpp"
"D:\arduino\tools-builder\ctags\5.8-arduino11/ctags" -u --language-force=c++ -f - --c++-kinds=svpf --fields=KSTtzns --line-directives "C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307\preproc\ctags_target_for_gcc_minus_e.cpp"
Sketch wird kompiliert...
"D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1/bin/arm-none-eabi-g++" -mcpu=cortex-m4 -mthumb -c -g -Os -Wall -Wextra -std=gnu++11 -ffunction-sections -fdata-sections -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -MMD -DF_CPU=120000000L -DARDUINO=10805 -DARDUINO_FEATHER_M4 -DARDUINO_ARCH_SAMD  -D__SAMD51J19A__  -DADAFRUIT_FEATHER_M4_EXPRESS  -D__SAMD51__ -DUSB_VID=0x239A -DUSB_PID=0x8022 -DUSBCON '-DUSB_MANUFACTURER="Adafruit LLC"' '-DUSB_PRODUCT="Adafruit Feather M4"' -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DENABLE_CACHE "-ID:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0/CMSIS/Include/" "-ID:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0/CMSIS/Device/ATMEL/" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\variants\feather_m4" "-ID:\Arduino\portable\libraries\I2Cdev" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\libraries\Wire" "-ID:\Arduino\portable\libraries\MPU6050" "C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307\sketch\MPU6050_DMP6_002.ino.cpp" -o "C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307\sketch\MPU6050_DMP6_002.ino.cpp.o"
In file included from D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino/Arduino.h:78:0,

                 from C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307\sketch\MPU6050_DMP6_002.ino.cpp:1:

D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino/HardwareSerial.h:71:18: warning: unused parameter 'baudrate' [-Wunused-parameter]

     virtual void begin(unsigned long baudrate, uint16_t config) {}

                  ^

D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino/HardwareSerial.h:71:18: warning: unused parameter 'config' [-Wunused-parameter]

In file included from D:\Akten\Programmierung\arduinoProgs\driver\MPU6050-h-Examples\MPU6050_DMP6_002\MPU6050_DMP6_002.ino:54:0:

D:\Arduino\portable\libraries\MPU6050/MPU6050_6Axis_MotionApps20.h:743:9: warning: unused parameter 'dmpData' [-Wunused-parameter]

 uint8_t MPU6050::dmpProcessFIFOPacket(const unsigned char *dmpData) {

         ^

Compiling libraries...
Compiling library "I2Cdev"
"D:\arduino\portable\packages\arduino\tools\arm-none-eabi-gcc\4.8.3-2014q1/bin/arm-none-eabi-g++" -mcpu=cortex-m4 -mthumb -c -g -Os -Wall -Wextra -std=gnu++11 -ffunction-sections -fdata-sections -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -MMD -DF_CPU=120000000L -DARDUINO=10805 -DARDUINO_FEATHER_M4 -DARDUINO_ARCH_SAMD  -D__SAMD51J19A__  -DADAFRUIT_FEATHER_M4_EXPRESS  -D__SAMD51__ -DUSB_VID=0x239A -DUSB_PID=0x8022 -DUSBCON '-DUSB_MANUFACTURER="Adafruit LLC"' '-DUSB_PRODUCT="Adafruit Feather M4"' -D__FPU_PRESENT -DARM_MATH_CM4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DENABLE_CACHE "-ID:\arduino\portable\packages\arduino\tools\CMSIS\4.5.0/CMSIS/Include/" "-ID:\arduino\portable\packages\arduino\tools\CMSIS-Atmel\1.2.0/CMSIS/Device/ATMEL/" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\variants\feather_m4" "-ID:\Arduino\portable\libraries\I2Cdev" "-ID:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\libraries\Wire" "-ID:\Arduino\portable\libraries\MPU6050" "D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp" -o "C:\Users\LOKALE~1\AppData\Local\Temp\arduino_build_81307\libraries\I2Cdev\I2Cdev.cpp.o"
D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp:64:14: warning: #warning Using current Arduino IDE with Wire library is functionally limiting. [-Wcpp]

             #warning Using current Arduino IDE with Wire library is functionally limiting.

              ^

D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp:65:14: warning: #warning Arduino IDE v1.0.1+ with I2CDEV_BUILTIN_FASTWIRE implementation is recommended. [-Wcpp]

             #warning Arduino IDE v1.0.1+ with I2CDEV_BUILTIN_FASTWIRE implementation is recommended.

              ^

D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp:66:14: warning: #warning This I2Cdev implementation does not support: [-Wcpp]

             #warning This I2Cdev implementation does not support:

              ^

D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp:67:14: warning: #warning - Timeout detection (some Wire requests block forever) [-Wcpp]

             #warning - Timeout detection (some Wire requests block forever)

              ^

In file included from D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino/Arduino.h:78:0,

                 from D:\Arduino\portable\libraries\I2Cdev\I2Cdev.h:77,

                 from D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp:46:

D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino/HardwareSerial.h:71:18: warning: unused parameter 'baudrate' [-Wunused-parameter]

     virtual void begin(unsigned long baudrate, uint16_t config) {}

                  ^

D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino/HardwareSerial.h:71:18: warning: unused parameter 'config' [-Wunused-parameter]

In file included from D:\Arduino\portable\libraries\I2Cdev\I2Cdev.h:77:0,

                 from D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp:46:

D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp: In static member function 'static int8_t I2Cdev::readBytes(uint8_t, uint8_t, uint8_t, uint8_t*, uint16_t)':

D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp:276:62: error: 'BUFFER_LENGTH' was not declared in this scope

             for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {

                                                              ^

D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino/Arduino.h:100:24: note: in definition of macro 'min'

 #define min(a,b) ((a)<(b)?(a):(b))

                        ^

D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp: In static member function 'static int8_t I2Cdev::readWords(uint8_t, uint8_t, uint8_t, uint16_t*, uint16_t)':

D:\Arduino\portable\libraries\I2Cdev\I2Cdev.cpp:414:70: error: 'BUFFER_LENGTH' was not declared in this scope

             for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {

                                                                      ^

D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\cores\arduino/Arduino.h:100:24: note: in definition of macro 'min'

 #define min(a,b) ((a)<(b)?(a):(b))

                        ^

Bibliothek I2Cdev im Ordner: D:\Arduino\portable\libraries\I2Cdev (legacy) wird verwendet
Bibliothek Wire in Version 1.0 im Ordner: D:\arduino\portable\packages\adafruit\hardware\samd\1.2.3\libraries\Wire  wird verwendet
Bibliothek MPU6050 im Ordner: D:\Arduino\portable\libraries\MPU6050 (legacy) wird verwendet
exit status 1
Fehler beim Kompilieren für das Board Adafruit Feather M4 Express (SAMD51).

und ebenso übrg. auch für den M0.

**Mxt** · 07.10.2018, 15:46

Ich hab mir die Lib gerade mal kurz installiert, für die Teensys wird sie ohne Fehlermeldung übersetzt.

Schätze mal die Wire-Implementierung dieser Adafruit-Dinger ist nicht so ganz Arduino konform ...

HaWe · 07.10.2018, 15:49

du denkst, es liegt an der Wire() Lib? Wieso? Ist die nicht automatisch bei Arduino immer mit dabei? Und wo genau könnte es haken?

hier der komplette Code zur Vollständigkeit:

Code:

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
// https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/MPU6050/examples/MPU6050_DMP6/MPU6050_DMP6.ino 
//
// Changelog:
//      2016-04-18 - Eliminated a potential infinite loop
//      2013-05-08 - added seamless Fastwire support
//                 - added note about gyro calibration
//      2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error
//      2012-06-20 - improved FIFO overflow handling and simplified read process
//      2012-06-19 - completely rearranged DMP initialization code and simplification
//      2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly
//      2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING
//      2012-06-05 - add gravity-compensated initial reference frame acceleration output
//                 - add 3D math helper file to DMP6 example sketch
//                 - add Euler output and Yaw/Pitch/Roll output formats
//      2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)
//      2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250
//      2012-05-30 - basic DMP initialization working

/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 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.
===============================================
*/

#ifndef _BV
#define _BV(n) (1<<(n))
#endif


// 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_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file

// 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 SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high

/* =========================================================================
   NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
   depends on the MPU-6050's INT pin being connected to the Arduino's
   external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
   digital I/O pin 2.
 * ========================================================================= */

/* =========================================================================
   NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
   when using Serial.write(buf, len). The Teapot output uses this method.
   The solution requires a modification to the Arduino USBAPI.h file, which
   is fortunately simple, but annoying. This will be fixed in the next IDE
   release. For more info, see these links:

   http://arduino.cc/forum/index.php/topic,109987.0.html
   http://code.google.com/p/arduino/issues/detail?id=958
 * ========================================================================= */



// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION

// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER

// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL

// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL

// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL

// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT



#define INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;

// MPU control/status vars
bool dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float euler[3];         // [psi, theta, phi]    Euler angle container
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };



// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
    mpuInterrupt = true;
}



// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================

void setup() {
    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // initialize serial communication
    // (115200 chosen because it is required for Teapot Demo output, but it's
    // really up to you depending on your project)
    Serial.begin(115200);
    while (!Serial); // wait for Leonardo enumeration, others continue immediately

    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
    // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
    // the baud timing being too misaligned with processor ticks. You must use
    // 38400 or slower in these cases, or use some kind of external separate
    // crystal solution for the UART timer.

    // initialize device
    Serial.println(F("Initializing I2C devices..."));
    mpu.initialize();
    pinMode(INTERRUPT_PIN, INPUT);

    // verify connection
    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    // wait for ready
    Serial.println(F("\nSend any character to begin DMP programming and demo: "));
    while (Serial.available() && Serial.read()); // empty buffer
    while (!Serial.available());                 // wait for data
    while (Serial.available() && Serial.read()); // empty buffer again

    // load and configure the DMP
    Serial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
        Serial.println(F("Enabling DMP..."));
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
        Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
        Serial.println(F(")..."));
        attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        Serial.println(F("DMP ready! Waiting for first interrupt..."));
        dmpReady = true;

        // get expected DMP packet size for later comparison
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        // ERROR!
        // 1 = initial memory load failed
        // 2 = DMP configuration updates failed
        // (if it's going to break, usually the code will be 1)
        Serial.print(F("DMP Initialization failed (code "));
        Serial.print(devStatus);
        Serial.println(F(")"));
    }

    // configure LED for output
    pinMode(LED_PIN, OUTPUT);
}



// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void loop() {
    // if programming failed, don't try to do anything
    if (!dmpReady) return;

    // wait for MPU interrupt or extra packet(s) available
    while (!mpuInterrupt && fifoCount < packetSize) {
        if (mpuInterrupt && fifoCount < packetSize) {
          // try to get out of the infinite loop 
          fifoCount = mpu.getFIFOCount();
        }  
        // other program behavior stuff here
        // .
        // .
        // .
        // if you are really paranoid you can frequently test in between other
        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
        // while() loop to immediately process the MPU data
        // .
        // .
        // .
    }

    // reset interrupt flag and get INT_STATUS byte
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();

    // check for overflow (this should never happen unless our code is too inefficient)
    if ((mpuIntStatus & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
        fifoCount = mpu.getFIFOCount();
        Serial.println(F("FIFO overflow!"));

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if (mpuIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)) {
        // wait for correct available data length, should be a VERY short wait
        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);
        
        // track FIFO count here in case there is > 1 packet available
        // (this lets us immediately read more without waiting for an interrupt)
        fifoCount -= packetSize;

        #ifdef OUTPUT_READABLE_QUATERNION
            // display quaternion values in easy matrix form: w x y z
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            Serial.print("quat\t");
            Serial.print(q.w);
            Serial.print("\t");
            Serial.print(q.x);
            Serial.print("\t");
            Serial.print(q.y);
            Serial.print("\t");
            Serial.println(q.z);
        #endif

        #ifdef OUTPUT_READABLE_EULER
            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetEuler(euler, &q);
            Serial.print("euler\t");
            Serial.print(euler[0] * 180/M_PI);
            Serial.print("\t");
            Serial.print(euler[1] * 180/M_PI);
            Serial.print("\t");
            Serial.println(euler[2] * 180/M_PI);
        #endif

        #ifdef OUTPUT_READABLE_YAWPITCHROLL
            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
            Serial.print("ypr\t");
            Serial.print(ypr[0] * 180/M_PI);
            Serial.print("\t");
            Serial.print(ypr[1] * 180/M_PI);
            Serial.print("\t");
            Serial.println(ypr[2] * 180/M_PI);
        #endif

        #ifdef OUTPUT_READABLE_REALACCEL
            // display real acceleration, adjusted to remove gravity
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            Serial.print("areal\t");
            Serial.print(aaReal.x);
            Serial.print("\t");
            Serial.print(aaReal.y);
            Serial.print("\t");
            Serial.println(aaReal.z);
        #endif

        #ifdef OUTPUT_READABLE_WORLDACCEL
            // display initial world-frame acceleration, adjusted to remove gravity
            // and rotated based on known orientation from quaternion
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetAccel(&aa, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
            Serial.print("aworld\t");
            Serial.print(aaWorld.x);
            Serial.print("\t");
            Serial.print(aaWorld.y);
            Serial.print("\t");
            Serial.println(aaWorld.z);
        #endif
    
        #ifdef OUTPUT_TEAPOT
            // display quaternion values in InvenSense Teapot demo format:
            teapotPacket[2] = fifoBuffer[0];
            teapotPacket[3] = fifoBuffer[1];
            teapotPacket[4] = fifoBuffer[4];
            teapotPacket[5] = fifoBuffer[5];
            teapotPacket[6] = fifoBuffer[8];
            teapotPacket[7] = fifoBuffer[9];
            teapotPacket[8] = fifoBuffer[12];
            teapotPacket[9] = fifoBuffer[13];
            Serial.write(teapotPacket, 14);
            teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
        #endif

        // blink LED to indicate activity
        blinkState = !blinkState;
        digitalWrite(LED_PIN, blinkState);
    }
}