Corrupt MPU FIFO (MPU6050, MPU9150 etc.) on Raspberry PI (quaternion is outside of acceptable threshold)

[greymfm]

When compiling and running Sunray firmware on a Raspberry PI, the MPU FIFO gets corrupted.

Steps to reproduce:

1. Connect MPU (6050, 9150 etc.) to Raspberry PI.
   
2. Activate Raspberry CPU-based I2C driver ('sudo raspi-config'), MPU should be found with: sudo i2cdetect -y 1
   
3. Compile Sunray firmware on your PI:
   git clone https://github.com/Ardumower/Sunray
   cd Sunray/alfred/build
   cmake ..
   make
4. sudo ./sunray

The MPU will be found but will not return any data. The reason is that the FIFO corruption check (in src/mpu/inv_mpu_dmp_motion_driver.c) fails:

Sunray/sunray/src/mpu/inv_mpu_dmp_motion_driver.c

Line 1276 in f64c6f5

if ((quat_mag_sq < QUAT_MAG_SQ_MIN) ||

Any ideas? :-)

To simply testing, I have made a 'IMU hello world project', just to test the MPU IMU:

1. Unzip arduino_pi_imu_test.zip on your Rasperry PI

arduino_pi_imu_test.zip

3. Adjust MPU type (in 'src/mpu/inv_mpu.c': #define MPU9150, MPU6050 etc.)
4. Compile test code on your PI:
   cd arduino_pi_imu_test/build
   cmake ..
   make
5. Run test code:
   sudo ./imu_test

The FIFO will be corrupted:

Playback of recorded I2C data can be activated (to test MPU-library without hardware) in ' src/mpu/arduino_mpu9250_i2c.cpp' (play=true) - If MPU library is compiled correctly, output should be like this:

[greymfm]

Further tests (with different hardware, different OS etc.) show:

MPU 6050 working properly (without FIFO corruption message):

raspberry 3     Linux 4.14.79-v7+   armv7l    gcc 6.3.0            YES  
raspberry 4     Linux 4.19.97-v7l+  armv7l    gcc 8.3.0            YES
raspberry 3     Linux 6.1.21-v8+    aarch64   gcc 10.2.1           YES  ??
raspberry 4     Linux 6.1.21-v8+    aarch64   gcc 10.2.1           NO   
raspberry 5     Linux 6.1.0-rp7     aarch64   gcc 12.2.0           NO   
raspberry 4     Linux 6.1.0-rp7-v8  aarch64   gcc 12.2.0           NO   

[greymfm]

bugfixed in commit ( 6afe850 )