I figured I should modify the RTIMULib.ini file in /etc/ to at least point at the correct bus 0 instead of 1:
I2CBus=0 because the MPU-9150 should be at address 0x69 on bus 0. But got an output of root@ni-e31x-:~/usr/E312IMUTest/build# ./E312IMUTest Do something here with example option input: for example Settings file /etc/RTIMULib.ini loaded Using fusion algorithm RTQF min/max compass calibration not in use Ellipsoid compass calibration not in use Accel calibration not in use I2C read error from 0, 117 - Failed to read MPU9150 id I2C read error from 0, 114 - Failed to read fifo count Press Ctrl + C to stop streaming... I2C read error from 0, 114 - Failed to read fifo count I2C read error from 0, 114 - Failed to read fifo count I2C read error from 0, 114 - Failed to read fifo count ... At least I get an output now, even if it failed to work. I don't know how to fix this error. I decided to do some investigating and found that the I2C device at 0x69 is not the MPU-9150, but the MPU-6050, which is one of the two chips on the MPU-9150. root@ni-e31x-:~# cat /sys/class/i2c-dev/i2c-0/device/0-0069/name mpu6050 There is no sign of the other chips: AK8975 (3-axis compass) at 0x0C or BMP085 (pressure sensor) at 0x77. Maybe I'm doing something wrong, but it seems as if something is more wrong than just the failed I2C read. Isaac Beeman ________________________________ From: Beeman, Isaac L. <ilbee...@wpi.edu> Sent: Monday, November 18, 2019 11:24 AM To: Samuel Prager <spra...@usc.edu>; usrp-users@lists.ettus.com <usrp-users@lists.ettus.com> Subject: Re: [EXT] Re: [USRP-users] Question about the IMU (MPU-9150) on the E310 Hi Sam, Thanks for linking your simple example program for streaming IMU data. I finally got the RTIMULib built and installed on the E312, but when I run your program I get this output: root@ni-e31x-:~/usr/E312IMUTest/build# ./E312IMUTest Do something here with example option input: for example Settings file not found. Using defaults and creating settings file Failed to open I2C bus 1 Failed to open SPI bus 0, select 0 Failed to open SPI bus 0, select 1 No IMU detected Using fusion algorithm RTQF No IMU found Error intializing IMU Was there any other setup I needed to do before running it (i.e. creating a settings file for the radio)? Do you think using a newer version of UHD and the E312 image might cause this issue? Isaac Beeman ________________________________ From: Samuel Prager <spra...@usc.edu> Sent: Tuesday, November 12, 2019 5:50 PM To: Beeman, Isaac L. <ilbee...@wpi.edu>; Michael Dickens <michael.dick...@ettus.com> Cc: usrp-users@lists.ettus.com <usrp-users@lists.ettus.com> Subject: [EXT] Re: [USRP-users] Question about the IMU (MPU-9150) on the E310 Hi Isaac, Here is a simple example program I wrote a while back for continuously streaming IMU data on the E310/E312. https://github.com/samprager/E312IMUTest<https://nam03.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Fsamprager%2FE312IMUTest&data=02%7C01%7Cilbeeman%40wpi.edu%7Ccef26121da504f6f64ef08d767c2b4d7%7C589c76f5ca1541f9884b55ec15a0672a%7C0%7C0%7C637091958270712195&sdata=3pQUZTIvh45iFS8enyrS1MPGDiscUBdpVv0mHpg5W0o%3D&reserved=0> See the README for RTIMULib installation instructions (the correct library is https://github.com/RPi-Distro/RTIMULib<https://nam03.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2FRPi-Distro%2FRTIMULib&data=02%7C01%7Cilbeeman%40wpi.edu%7Ccef26121da504f6f64ef08d767c2b4d7%7C589c76f5ca1541f9884b55ec15a0672a%7C0%7C0%7C637091958270722198&sdata=Fw44bvF609L1W4chj1NfTr1dr42qRkkm71JnaqZRP98%3D&reserved=0>). Sam On Nov 12, 2019, 12:30 PM -0800, Michael Dickens via USRP-users <usrp-users@lists.ettus.com>, wrote: Hi Isaac - UHD itself provides no API to the IMU; never has. The RTIMULib, possibly an older version than current and assuming it can be built and installed on the E310, should be able to access the IMU to provide information from it. Note "possibly", "assuming", "should" ... clearly this isn't a majorly supported feature of the E310! Good luck! - MLD On Tue, Nov 12, 2019 at 12:37 PM Beeman, Isaac L. via USRP-users <usrp-users@lists.ettus.com<mailto:usrp-users@lists.ettus.com>> wrote: Marcus and List, I was hoping someone knew the steps involved to get the RTIMULib setup on the USRP. I tried building and installing both the RTIMULib and Linux folders, but the Linux one fails: -- Found unsuitable Qt version "" from NOTFOUND Qt QTOPENGL library not found. Qt QTGUI library not found. Qt QTCORE library not found. CMake Error at RTIMULibGL/CMakeLists.txt:90 (QT4_ADD_RESOURCES): Unknown CMake command "QT4_ADD_RESOURCES". -- Configuring incomplete, errors occurred! I figured that I can't install the RTIMULibDemo apps because they use a GUI, so I built and installed the RTIMULibDrive and RTIMULibCal individually. Only, when I try to run one of these apps I get the following error: RTIMULibDrive: error while loading shared libraries: libRTIMULib.so.7: cannot open shared object file: No such file or directory I don't get how to fix this. When I build and install the same apps on my host computer they run fine (but obviously can't find any IMU). Considering that any applications I write also use the same libraries, I feel like this is going to be an issue. There isn't any documentation that I can find on the usage of the C++ library for RTIMULib. Just reading the code in RTIMULibDrive.cpp as an example, it doesn't seem too complicated, but it obviously is a generic program that isn't using the settings needed to connect to the MPU-9150. If anyone knows how to get one of these apps (RTIMULibDrive or RTIMULibCal) working or how to use RTIMULib.h in connecting to the MPU-9150 over I2C, it would be much appreciated. -Isaac Beeman P.S. I also tried 'i2cdetect -y 0' to see if the MPU-9150 has the I2C address 0x69 like the schematics say, but I only get: Warning: Can't use SMBus Quick Write command, will skip some addresses 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: 10: 20: 30: -- -- -- -- -- -- -- -- 40: 50: UU UU -- -- -- -- -- -- -- -- -- -- -- -- -- -- 60: 70: with nothing under 0x69. So that's weird. -----Original Message----- From: USRP-users <usrp-users-boun...@lists.ettus.com<mailto:usrp-users-boun...@lists.ettus.com>> On Behalf Of Marcus D. Leech via USRP-users Sent: Tuesday, November 12, 2019 10:35 AM To: usrp-users@lists.ettus.com<mailto:usrp-users@lists.ettus.com> Subject: [EXT] Re: [USRP-users] Question about the IMU (MPU-9150) on the E310 On 11/12/2019 10:26 AM, Beeman, Isaac L. via USRP-users wrote: > Hi List, > > I have recently started working with the E310/E312 and have gotten > multichannel RX/TX and GPS working, but I can't figure out how to grab data > off of the internal IMU/MPU-9150. I found some website > (http://gnuradio.cn/en/html/support/en/page_usrp_e3x0.html<https://nam03.safelinks.protection.outlook.com/?url=https%3A%2F%2Furldefense.proofpoint.com%2Fv2%2Furl%3Fu%3Dhttp-3A__gnuradio.cn_en_html_support_en_page-5Fusrp-5Fe3x0.html%26d%3DDwMFaQ%26c%3DclK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI%26r%3DopIuWAKmywF059tAs2i3Pg%26m%3DrGLxgINOMrS4sAfnjQ9mFF9r3gnmnGlRtI8Lfh1c_9g%26s%3DfT3qR8x5-PwNd6mUUK4W_0mJBVKoBdE53vAvmpAFz6M%26e%3D&data=02%7C01%7Cilbeeman%40wpi.edu%7Ccef26121da504f6f64ef08d767c2b4d7%7C589c76f5ca1541f9884b55ec15a0672a%7C0%7C0%7C637091958270722198&sdata=iwZjSXpqEEE1kJ%2FS9w%2FUrDgu6ogXQIsj38VxZwelHNE%3D&reserved=0>) > that said that the USRP image should contain RTIMULib applications with > allow the user to test the IMU, but, unless I am looking in the wrong place, > the current image for the E310 does not have any RTIMULib applications on it. > > I want to know if there are any API calls or libraries that would allow me to > do development with the IMU. > > -Isaac Beeman > > _______________________________________________ You might start here: https://github.com/RTIMULib<https://nam03.safelinks.protection.outlook.com/?url=https%3A%2F%2Furldefense.proofpoint.com%2Fv2%2Furl%3Fu%3Dhttps-3A__github.com_RTIMULib%26d%3DDwMFaQ%26c%3DclK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI%26r%3DopIuWAKmywF059tAs2i3Pg%26m%3DrGLxgINOMrS4sAfnjQ9mFF9r3gnmnGlRtI8Lfh1c_9g%26s%3DNIewtdUlqSB7hPPCxPdlvxHxo4oRBNidm-Df5qiTLFc%26e%3D&data=02%7C01%7Cilbeeman%40wpi.edu%7Ccef26121da504f6f64ef08d767c2b4d7%7C589c76f5ca1541f9884b55ec15a0672a%7C0%7C0%7C637091958270732197&sdata=fe55C%2BuNXLda1CKtlfeK0OvJbaAZvH5UnrFnlM61PI4%3D&reserved=0> _______________________________________________ USRP-users mailing list USRP-users@lists.ettus.com<mailto:USRP-users@lists.ettus.com> http://lists.ettus.com/mailman/listinfo/usrp-users_lists.ettus.com<https://nam03.safelinks.protection.outlook.com/?url=https%3A%2F%2Furldefense.proofpoint.com%2Fv2%2Furl%3Fu%3Dhttp-3A__lists.ettus.com_mailman_listinfo_usrp-2Dusers-5Flists.ettus.com%26d%3DDwMFaQ%26c%3DclK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI%26r%3DopIuWAKmywF059tAs2i3Pg%26m%3DrGLxgINOMrS4sAfnjQ9mFF9r3gnmnGlRtI8Lfh1c_9g%26s%3D8wPPngBEnPiaAxtUARbH1opcSV3Pgih5Konyr2kf9-c%26e%3D&data=02%7C01%7Cilbeeman%40wpi.edu%7Ccef26121da504f6f64ef08d767c2b4d7%7C589c76f5ca1541f9884b55ec15a0672a%7C0%7C0%7C637091958270742195&sdata=lAzQHTWL%2FMinepF93tvzrtFVBGFLSQjCI8meyoB59tc%3D&reserved=0> -- Michael Dickens Ettus Research Technical Support Email: supp...@ettus.com<mailto:supp...@ettus.com> Web: https://ettus.com/<https://nam03.safelinks.protection.outlook.com/?url=https%3A%2F%2Furldefense.proofpoint.com%2Fv2%2Furl%3Fu%3Dhttps-3A__ettus.com_%26d%3DDwMFaQ%26c%3DclK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI%26r%3DopIuWAKmywF059tAs2i3Pg%26m%3DrGLxgINOMrS4sAfnjQ9mFF9r3gnmnGlRtI8Lfh1c_9g%26s%3DFVmNPR5VsaNFSu2W3JXNVpqQiNivgYWHJAGCOGvRw3c%26e%3D&data=02%7C01%7Cilbeeman%40wpi.edu%7Ccef26121da504f6f64ef08d767c2b4d7%7C589c76f5ca1541f9884b55ec15a0672a%7C0%7C0%7C637091958270742195&sdata=XGZ%2BclKFjKQlvHy4ig5up44eShLfbBogAEy%2F1S9EFpA%3D&reserved=0> _______________________________________________ USRP-users mailing list USRP-users@lists.ettus.com https://urldefense.proofpoint.com/v2/url?u=http-3A__lists.ettus.com_mailman_listinfo_usrp-2Dusers-5Flists.ettus.com&d=DwICAg&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=opIuWAKmywF059tAs2i3Pg&m=rGLxgINOMrS4sAfnjQ9mFF9r3gnmnGlRtI8Lfh1c_9g&s=8wPPngBEnPiaAxtUARbH1opcSV3Pgih5Konyr2kf9-c&e=
_______________________________________________ USRP-users mailing list USRP-users@lists.ettus.com http://lists.ettus.com/mailman/listinfo/usrp-users_lists.ettus.com
