Raspi IMU sensor - Raspberry Pi Forums

hey guys,
first of all, first topic in forum , english isnt mother tongue, please forgive me mistakes :)

i'd connect imu sensor rpi b rev2, bought minimu-9 v3 pololu:
(link).
, followed guide davidegrayson:
(link)

far followed steps, like:
- adding

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i2c-bcm2708

,

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i2c-dev

in /etc/modules
- adjusted permissions
- wired imu rpi

command

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i2ctetect -y

gives me:

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pi@raspberrypi ~ $ i2cdetect -y 1      0  1  2  3  4  5  6  7  8  9   b  c  d  e  f 00:          -- -- -- -- -- -- -- -- -- -- -- -- -- 10: -- -- -- -- -- -- -- -- -- -- -- -- -- 1d -- -- 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 60: -- -- -- -- -- -- -- -- -- -- -- 6b -- -- -- -- 70: -- -- -- -- -- -- -- -- 

further did download package (link) (version 2.0.0) , did

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make

stuff, described in readme file.

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minimu9-ahrs --mode raw -b /dev/i2c-1

similar output in post:

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   -138     129    -416      112      -8     228      -50      14       9    -138     129    -419      120      -4     232      -49      20      18    -138     129    -419      116     -12     228      -51      15       8    -138     129    -419      116     -12     228      -50      21      17    -137     130    -421      116      -8     232      -51      22      11    -137     130    -421      120     -12     220      -56      20      14 

, calibrated sensor

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minimu9-ahrs-calibrate -b /dev/i2c-1

.

minor problems are, if type in

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ls /dev/i2c*

, 1 output "/dev/i2c-1" , not second 1 "/dev/i2c-0" should (i read several sources, should both, if use rpi b rev2). , dont visualizer running (link).

main problem is, naturally i'd code own c++ script uses data sensor parameters , runs on pi. try created file called 'test.cpp', copy of main file minimu9-ahrs.cpp , located in same folder.
tried compile test.cpp file, executable, did

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g++ test.cpp

, got following response:

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pi@raspberrypi ~/quadro/minimu9-ahrs-2.0.0 $ g++ test.cpp in file included test.cpp:1:0: vector.h:4:22: fatal error: eigen/core: datei oder verzeichnis nicht gefunden compilation terminated. 

took @ 'makefile' file , added few parameters command, have no idea :d tried out:

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pi@raspberrypi ~/quadro/minimu9-ahrs-2.0.0 $ g++ -i -wall --std=c++0x -lboost_program_options -o3 -wno-psabi -md -mp test.cpp /tmp/ccaanpqe.s: assembler messages: /tmp/ccaanpqe.s:4248: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4258: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4275: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4334: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4344: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4361: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4470: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4480: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4497: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4561: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4571: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4588: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4661: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4671: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4688: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4738: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4748: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:4765: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:5862: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:5871: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:5888: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:5954: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:5963: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccaanpqe.s:5980: warning: swp{b} use deprecated armv6 , armv7 /tmp/ccgaqkyd.o: in function `minimu9::~minimu9()': test.cpp:(.text._zn7minimu9d2ev[_zn7minimu9d5ev]+0x10): undefined reference `i2cbus::~i2cbus()' test.cpp:(.text._zn7minimu9d2ev[_zn7minimu9d5ev]+0x18): undefined reference `i2cbus::~i2cbus()' test.cpp:(.text._zn7minimu9d2ev[_zn7minimu9d5ev]+0x20): undefined reference `i2cbus::~i2cbus()' test.cpp:(.text._zn7minimu9d2ev[_zn7minimu9d5ev]+0x30): undefined reference `i2cbus::~i2cbus()' test.cpp:(.text._zn7minimu9d2ev[_zn7minimu9d5ev]+0x38): undefined reference `i2cbus::~i2cbus()' /tmp/ccgaqkyd.o:test.cpp:(.text._zn7minimu9d2ev[_zn7minimu9d5ev]+0x44): more undefined references `i2cbus::~i2cbus()' follow /tmp/ccgaqkyd.o: in function `minimu9::~minimu9()': test.cpp:(.text._zn7minimu9d2ev[_zn7minimu9d5ev]+0x58): undefined reference `vtable minimu9' /tmp/ccgaqkyd.o: in function `main': test.cpp:(.text.startup+0x2bc): undefined reference `minimu9::minimu9(char const*)' collect2: ld returned 1 exit status 

although there few errors, 2 new file 'test.o' , 'test.h' appeared in folder. dont know how execute of them.


please me, newby @ raspi , sensors stuff , i'm not used c++, because learned java.
have idea did wrong?

thank in advance , hope have geat day!
sincere regards,
julian

/dev/i2c-0 isn't used on rpi since b rev2. i2c_arm interface /dev/i2c-1 on modern rpis.

may need reconfigure application use correct /dev file.

raspberrypi