jrowberg / i2cdevlib Goto Github PK

        if(aligned == 0) serialCount = 0; else  serialCount++;            
        println(aligned + " " + serialCount + " " + ch);

// Attach to interrupt 0 (pin 2) on AVR, or pin 2 on ARM
#ifdef __arm__
    attachInterrupt(2, dmpDataReady, RISING);
#else
    attachInterrupt(0, dmpDataReady, RISING);
#endif

// Paul Stoffregen AVR TWBR emulation for ARM
// http://forum.pjrc.com/threads/23798-Sabernetics-I2C-OLED-display-Adafruit-SSD1306-library-problem?p=32988&viewfull=1#post32988
#if defined(__arm__)
class TWBRemulation
{
public:
    inline TWBRemulation & operator = (int val) __attribute__((always_inline)) {
    if (val == 12 || val == ((F_CPU / 400000) - 16) / 2) {
        #if F_BUS == 48000000
        I2C0_F = 0x1A; // 400 kHz
        #elif F_BUS == 24000000
        I2C0_F = 0x45; // 400 kHz
        #endif
    }
    return *this;
}
};
extern TWBRemulation TWBR;
#endif

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg <[email protected]>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
//      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.
===============================================
*/

// 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 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();
        TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
    #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 Ardunio
    // 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();

    // 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.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
        attachInterrupt(0, 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) {
        // 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 & 0x10) || fifoCount == 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
        Serial.println(F("FIFO overflow!"));

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if (mpuIntStatus & 0x02) {
        // 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);
    }
}

C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:14:17: error: i2c.h: No such file or directory
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterInit':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:50: error: 'I2C_PxSEL' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:50: error: (Each undeclared identifier is reported only once
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:50: error: for each function it appears in.)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:50: error: 'SDA_PIN' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:50: error: 'SCL_PIN' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:51: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:51: error: 'UCSWRST' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:52: error: 'UCB1CTL0' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:52: error: 'UCMST' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:52: error: 'UCMODE_3' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:52: error: 'UCSYNC' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:53: error: 'UCSSEL_2' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:54: error: 'UCB1BR0' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:54: error: 'I2C_PRESCALE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:55: error: 'UCB1BR1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_enable':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:73: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:73: error: 'UCSWRST' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_disable':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:91: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:91: error: 'UCSWRST' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_setSlaveAddress':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:113: error: 'UCB1I2CSA' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_setMode':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:133: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:133: error: 'I2C_TRANSMIT_MODE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_isBusBusy':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:153: error: 'UCB1STAT' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:153: error: 'UCBBUSY' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_enableInterrupt':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:181: error: 'UC1IFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:184: error: 'UC1IE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_disableInterrupt':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:211: error: 'UC1IE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_clearInterruptFlag':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:235: error: 'UC1IFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterSendSingleByte':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:260: error: 'UC1IE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:260: error: 'UCB1TXIE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:266: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:266: error: 'UCTR' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:266: error: 'UCTXSTT' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:269: error: 'UC1IFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:269: error: 'UCB1TXIFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:272: error: 'UCB1TXBUF' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:278: error: 'UCTXSTP' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterMultiByteSendStart':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:308: error: 'UC1IE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:308: error: 'UCB1TXIE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:314: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:314: error: 'UCTR' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:314: error: 'UCTXSTT' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:317: error: 'UC1IFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:317: error: 'UCB1TXIFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:320: error: 'UCB1TXBUF' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterMultiByteSendNext':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:345: error: 'UC1IE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:345: error: 'UCB1TXIE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:347: error: 'UC1IFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:347: error: 'UCB1TXIFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:351: error: 'UCB1TXBUF' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterMultiByteSendFinish':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:375: error: 'UC1IE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:375: error: 'UCB1TXIE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:377: error: 'UC1IFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:377: error: 'UCB1TXIFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:381: error: 'UCB1TXBUF' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:387: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:387: error: 'UCTXSTP' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterMultiByteSendStop':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:409: error: 'UC1IE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:409: error: 'UCB1TXIE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:411: error: 'UC1IFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:411: error: 'UCB1TXIFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:415: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:415: error: 'UCTXSTP' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterMultiByteReceiveStart':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:435: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:435: error: 'UCTR' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:437: error: 'UCTXSTT' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterMultiByteReceiveNext':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:456: error: 'UCB1RXBUF' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterMultiByteReceiveFinish':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:478: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:478: error: 'UCTXSTP' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:484: error: 'UC1IFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:484: error: 'UCB1RXIFG' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:488: error: 'UCB1RXBUF' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterMultiByteReceiveStop':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:508: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:508: error: 'UCTXSTP' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterSingleReceiveStart':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:530: error: 'GIE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:536: error: 'UCB1CTL1' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:536: error: 'UCTR' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:539: error: 'UCTXSTT' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:545: error: 'UCTXSTP' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_masterSingleReceive':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:568: error: 'UCB1RXBUF' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_readBytesFromAddress':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:679: error: 'I2C_TRANSMIT_MODE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:705: error: 'I2C_RECEIVE_MODE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:709: error: 'I2C_RECEIVE_INTERRUPT' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c: In function 'I2C_writeBytesToAddress':
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:740: error: 'I2C_TRANSMIT_MODE' undeclared (first use in this function)
C:\Users\Zhang Lutong\Documents\Arduino\libraries\I2Cdev\msp430_i2c.c:746: error: 'I2C_TRANSMIT_INTERRUPT' undeclared (first use in this function)

attachInterrupt(0, dmpDataReady, RISING);

while ((fifoCount = accelgyro.getFIFOCount()) < 42);

   int cnt= 0;
    while ((fifoCount = accelgyro.getFIFOCount()) < 42){
            if(cnt++ > 100) {
                    Serial.println("Fifo timeout");
                    accelgyro.resetFIFO();
                    return;
            }
            delay(10);
    }

lib/i2cdevlib/Arduino/_Stub/_Stub.cpp:34:23: fatal error: MYDEVSTUB.h: No such file or directory
compilation terminated.
make: *** [.build/micro/i2cdevlib/Arduino/_Stub/_Stub.d] Error 1

   // read FIFO content, make sure we do not overflow our buffer
    if(fifoCount <= sizeof fifoBuffer) {
            accelgyro.getFIFOBytes(fifoBuffer, fifoCount);

    }else{
            Serial.print("Trying to read too much FIFO ");
            Serial.println(fifoCount);
            accelgyro.resetFIFO();
            return;
    }

Initializing I2C devices...
Testing device connections...
MPU6050 connection successful

Send any character to begin DMP programming and demo: 
Initializing DMP...


Resetting MPU6050...
Disabling sleep mode...
Getting product ID...
Product ID = 0Selecting user bank 16...
Selecting memory byte 6...
Checking hardware revision...
Revision @ user[16][6] = A5
Resetting memory bank selection to 0...
Reading OTP bank valid flag...
OTP bank is valid!
Reading gyro offset values...
X gyro offset = 1
Y gyro offset = 2
Z gyro offset = 0
Enabling interrupt latch, clear on any read, AUX bypass enabled
Setting magnetometer mode to power-down...
Setting magnetometer mode to fuse access...
Reading mag magnetometer factory calibration...
Adjustment X/Y/Z = 0 / 0 / 0
Setting magnetometer mode to power-down...
Writing DMP code to MPU memory banks (1962 bytes)
Success! DMP code written and verified.
Configuring DMP and related settings...
Writing DMP configuration to MPU memory banks (232 bytes in config def)
Success! DMP configuration written and verified.
Setting DMP and FIFO_OFLOW interrupts enabled...
Setting sample rate to 200Hz...
Setting clock source to Z Gyro...
Setting DLPF bandwidth to 42Hz...
Setting external frame sync to TEMP_OUT_L[0]...
Setting gyro sensitivity to +/- 2000 deg/sec...
Setting DMP configuration bytes (function unknown)...
Clearing OTP Bank flag...
Setting X/Y/Z gyro offsets to previous values...
Setting X/Y/Z gyro user offsets to zero...
Writing final memory update 1/19 (function unknown)...
Writing final memory update 2/19 (function unknown)...
Resetting FIFO...
Reading FIFO count...
Current FIFO count=0
Writing final memory update 3/19 (function unknown)...
Writing final memory update 4/19 (function unknown)...
Disabling all standby flags...
Setting accelerometer sensitivity to +/- 2g...
Setting motion detection threshold to 2...
Setting zero-motion detection threshold to 156...
Setting motion detection duration to 80...
Setting zero-motion detection duration to 0...
Setting AK8975 to single measurement mode...
Setting up AK8975 read slave 0...
Setting up AK8975 write slave 2...
Setting up slave access delay...
Enabling default interrupt behavior/no bypass...
Enabling I2C master mode...
Resetting FIFO...
Rewriting I2C master mode enabled because...I don't know
Enabling and resetting DMP/FIFO...
Writing final memory update 5/19 (function unknown)...
Writing final memory update 6/19 (function unknown)...
Writing final memory update 7/19 (function unknown)...
Writing final memory update 8/19 (function unknown)...
Writing final memory update 9/19 (function unknown)...
Writing final memory update 10/19 (function unknown)...
Writing final memory update 11/19 (function unknown)...
Reading final memory update 12/19 (function unknown)...
Read bytes: 0 0 0 0 
Writing final memory update 13/19 (function unknown)...
Writing final memory update 14/19 (function unknown)...
Writing final memory update 15/19 (function unknown)...
Writing final memory update 16/19 (function unknown)...
Writing final memory update 17/19 (function unknown)...
Waiting for FIRO count >= 46...