Teensy 4.0 compile errors #24
Comments
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is the LED blinking? |
No, the LED stay on. But if I use |
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Hmm... After I changed to an different IMU but the same model (MPU-9250/6500), the LED start to blink nonstop. What's does the blinking LED means? |
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It could be the IMU failed to initialize. I synced the i2cdev and imu code from upstream i2cdevlib in my port to ESP32. The imu compatibility might be improved. You may try. |
Thanks for your reply! This fix my issue! |
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I keeps getting this errors while compile the firmware for teensy 4.0.
And topics
/odom/unfilteredand/imu/dataare missing after running the micro-ROS agent.Terminal logs:
Building micro-ROS library Found 99 compatible libraries Scanning dependencies... Dependency Graph |-- micro_ros_platformio @ 0.0.1+sha.22cf9b6 |-- encoder |-- imu | |-- Wire @ 1.0 | |-- micro_ros_platformio @ 0.0.1+sha.22cf9b6 |-- kinematics |-- motor | |-- Servo @ 1.1.2 |-- odometry | |-- micro_ros_platformio @ 0.0.1+sha.22cf9b6 |-- pid Building in release mode Compiling .pio/build/teensy40/src/firmware.ino.cpp.o Compiling .pio/build/teensy40/lib640/micro_ros_platformio/platform_code/arduino/clock_gettime.cpp.o Compiling .pio/build/teensy40/lib640/micro_ros_platformio/platform_code/arduino/serial/micro_ros_transport.cpp.o Compiling .pio/build/teensy40/lib81a/encoder/encoder.cpp.o Compiling .pio/build/teensy40/lib0e1/Wire/Wire.cpp.o Archiving .pio/build/teensy40/lib640/libmicro_ros_platformio.a Archiving .pio/build/teensy40/lib81a/libencoder.a Indexing .pio/build/teensy40/lib640/libmicro_ros_platformio.a /home/jetson/linorobot2_hardware/firmware/src/firmware.ino: In function 'bool destroyEntities()': /home/jetson/linorobot2_hardware/firmware/src/firmware.ino:222:47: warning: ignoring return value of 'rcl_ret_t rcl_publisher_fini(rcl_publisher_t*, rcl_node_t*)', declared with attribute warn_unused_result [-Wunused-result] rcl_publisher_fini(&odom_publisher, &node); ^ /home/jetson/linorobot2_hardware/firmware/src/firmware.ino:223:46: warning: ignoring return value of 'rcl_ret_t rcl_publisher_fini(rcl_publisher_t*, rcl_node_t*)', declared with attribute warn_unused_result [-Wunused-result] rcl_publisher_fini(&imu_publisher, &node); ^ /home/jetson/linorobot2_hardware/firmware/src/firmware.ino:224:52: warning: ignoring return value of 'rcl_ret_t rcl_subscription_fini(rcl_subscription_t*, rcl_node_t*)', declared with attribute warn_unused_result [-Wunused-result] rcl_subscription_fini(&twist_subscriber, &node); ^ /home/jetson/linorobot2_hardware/firmware/src/firmware.ino:225:25: warning: ignoring return value of 'rcl_ret_t rcl_node_fini(rcl_node_t*)', declared with attribute warn_unused_result [-Wunused-result] rcl_node_fini(&node); ^ /home/jetson/linorobot2_hardware/firmware/src/firmware.ino:226:35: warning: ignoring return value of 'rcl_ret_t rcl_timer_fini(rcl_timer_t*)', declared with attribute warn_unused_result [-Wunused-result] rcl_timer_fini(&control_timer); ^ Indexing .pio/build/teensy40/lib81a/libencoder.a Compiling .pio/build/teensy40/lib0e1/Wire/WireIMXRT.cpp.o Compiling .pio/build/teensy40/lib0e1/Wire/WireKinetis.cpp.o Compiling .pio/build/teensy40/lib0e1/Wire/utility/twi.c.o Compiling .pio/build/teensy40/lib443/imu/ADXL345.cpp.o Compiling .pio/build/teensy40/lib443/imu/HMC5883L.cpp.o Archiving .pio/build/teensy40/lib0e1/libWire.a Indexing .pio/build/teensy40/lib0e1/libWire.a Compiling .pio/build/teensy40/lib443/imu/I2Cdev.cpp.o Compiling .pio/build/teensy40/lib443/imu/ITG3200.cpp.o Compiling .pio/build/teensy40/lib443/imu/MPU6050.cpp.o Compiling .pio/build/teensy40/lib443/imu/MPU9150.cpp.o Compiling .pio/build/teensy40/lib443/imu/MPU9250.cpp.o Compiling .pio/build/teensy40/libe32/kinematics/kinematics.cpp.o Archiving .pio/build/teensy40/libe32/libkinematics.a Indexing .pio/build/teensy40/libe32/libkinematics.a Compiling .pio/build/teensy40/lib813/Servo/Servo.cpp.o Archiving .pio/build/teensy40/lib813/libServo.a Indexing .pio/build/teensy40/lib813/libServo.a Compiling .pio/build/teensy40/libf69/odometry/odometry.cpp.o lib/imu/MPU9150.cpp: In member function 'bool MPU9150::writeMemoryBlock(const uint8_t*, uint16_t, uint8_t, uint8_t, bool, bool)': lib/imu/MPU9150.cpp:2992:14: warning: 'verifyBuffer' may be used uninitialized in this function [-Wmaybe-uninitialized] uint8_t *verifyBuffer; ^ Compiling .pio/build/teensy40/lib7aa/pid/pid.cpp.o lib/imu/MPU9250.cpp: In member function 'bool MPU9250::writeMemoryBlock(const uint8_t*, uint16_t, uint8_t, uint8_t, bool, bool)': lib/imu/MPU9250.cpp:2999:14: warning: 'progBuffer' may be used uninitialized in this function [-Wmaybe-uninitialized] uint8_t *progBuffer; ^ lib/imu/MPU9250.cpp:2998:14: warning: 'verifyBuffer' may be used uninitialized in this function [-Wmaybe-uninitialized] uint8_t *verifyBuffer; ^ Compiling .pio/build/teensy40/FrameworkArduino/AudioStream.cpp.o lib/imu/MPU9250.cpp: In member function 'bool MPU9250::writeDMPConfigurationSet(const uint8_t*, uint16_t, bool)': lib/imu/MPU9250.cpp:3104:101: warning: 'progBuffer' may be used uninitialized in this function [-Wmaybe-uninitialized] if (sizeof(progBuffer) < length) progBuffer = (uint8_t *)realloc(progBuffer, length); ^ Archiving .pio/build/teensy40/lib443/libimu.a Indexing .pio/build/teensy40/lib443/libimu.a Archiving .pio/build/teensy40/libf69/libodometry.a Indexing .pio/build/teensy40/libf69/libodometry.a Compiling .pio/build/teensy40/FrameworkArduino/CrashReport.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/DMAChannel.cpp.o Archiving .pio/build/teensy40/lib7aa/libpid.a Indexing .pio/build/teensy40/lib7aa/libpid.a Compiling .pio/build/teensy40/FrameworkArduino/EventResponder.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/HardwareSerial.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/HardwareSerial1.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/HardwareSerial2.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/HardwareSerial3.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/HardwareSerial4.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/HardwareSerial5.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/HardwareSerial6.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/HardwareSerial7.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/HardwareSerial8.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/IPAddress.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/IntervalTimer.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/Print.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/Stream.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/Time.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/Tone.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/WMath.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/WString.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/analog.c.o Compiling .pio/build/teensy40/FrameworkArduino/bootdata.c.o Compiling .pio/build/teensy40/FrameworkArduino/clockspeed.c.o Compiling .pio/build/teensy40/FrameworkArduino/debugprintf.c.o Compiling .pio/build/teensy40/FrameworkArduino/delay.c.o Compiling .pio/build/teensy40/FrameworkArduino/digital.c.o Compiling .pio/build/teensy40/FrameworkArduino/eeprom.c.o Compiling .pio/build/teensy40/FrameworkArduino/extmem.c.o Compiling .pio/build/teensy40/FrameworkArduino/fuse.c.o Compiling .pio/build/teensy40/FrameworkArduino/interrupt.c.o Compiling .pio/build/teensy40/FrameworkArduino/keylayouts.c.o Compiling .pio/build/teensy40/FrameworkArduino/main.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/memcpy-armv7m.S.o Compiling .pio/build/teensy40/FrameworkArduino/memset.S.o Compiling .pio/build/teensy40/FrameworkArduino/new.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/nonstd.c.o Compiling .pio/build/teensy40/FrameworkArduino/pwm.c.o Compiling .pio/build/teensy40/FrameworkArduino/rtc.c.o Compiling .pio/build/teensy40/FrameworkArduino/serialEvent.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/serialEvent1.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/serialEvent2.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/serialEvent3.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/serialEvent4.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/serialEvent5.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/serialEvent6.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/serialEvent7.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/serialEvent8.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/serialEventUSB1.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/serialEventUSB2.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/sm_alloc_valid.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_calloc.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_free.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_hash.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_malloc.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_malloc_stats.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_pool.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_realloc.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_realloc_i.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_realloc_move.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_szalloc.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_util.c.o Compiling .pio/build/teensy40/FrameworkArduino/sm_zalloc.c.o Compiling .pio/build/teensy40/FrameworkArduino/startup.c.o Compiling .pio/build/teensy40/FrameworkArduino/tempmon.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_audio.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/usb_desc.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_flightsim.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/usb_inst.cpp.o Compiling .pio/build/teensy40/FrameworkArduino/usb_joystick.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_keyboard.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_midi.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_mouse.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_mtp.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_rawhid.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_seremu.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_serial.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_serial2.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_serial3.c.o Compiling .pio/build/teensy40/FrameworkArduino/usb_touch.c.o Compiling .pio/build/teensy40/FrameworkArduino/yield.cpp.o Archiving .pio/build/teensy40/libFrameworkArduino.a Indexing .pio/build/teensy40/libFrameworkArduino.a Linking .pio/build/teensy40/firmware.elf Checking size .pio/build/teensy40/firmware.elf Building .pio/build/teensy40/firmware.hex Configuring upload protocol... AVAILABLE: jlink, teensy-cli, teensy-gui CURRENT: upload_protocol = teensy-cli Rebooting... Uploading .pio/build/teensy40/firmware.hex Teensy Loader, Command Line, Version 2.2 Read ".pio/build/teensy40/firmware.hex": 134144 bytes, 6.6% usage Unable to soft reboot with USB error: Success Waiting for Teensy device... (hint: press the reset button) Found HalfKay Bootloader Read ".pio/build/teensy40/firmware.hex": 134144 bytes, 6.6% usage Programming................................................................................................................................ Booting ======================== [SUCCESS] Took 589.07 seconds ======================== Environment Status Duration ------------- -------- ------------ teensy40 SUCCESS 00:09:49.073 ========================= 1 succeeded in 00:09:49.073 ========================= jetson@nano:~/linorobot2_hardware/firmware$The text was updated successfully, but these errors were encountered: