cli does not come up on pico 2040 with MPU6050 on I2C

[majestix54]

I installed the current version on a pico2040 with an imu MPU6050 connected via I2C. The startup sequence looks as follows.

madflight v2.2.3-DEV starting 1 ...
Arduino library: Arduino-Pico v5.4.3
Board: Raspberry Pi Pico (default board)
Processor: RP2040
CFG: Loading EEPROM - OK
CFG: Loading config - madflight_board loaded OK, madflight_config loaded OK
PIN: pin_ser0_tx 0
PIN: pin_ser0_rx 1
PIN: pin_out0 2
PIN: pin_out1 3
PIN: pin_out2 4
PIN: pin_out3 5
PIN: pin_out4 6
PIN: pin_out5 7
PIN: pin_ser1_tx 8
PIN: pin_ser1_rx 9
PIN: pin_i2c1_sda 10
PIN: pin_i2c1_scl 11
PIN: pin_spi1_miso 12
PIN: pin_bbx_cs 13
PIN: pin_spi1_sclk 14
PIN: pin_spi1_mosi 15
PIN: pin_spi0_miso 16
PIN: pin_imu_cs 17
PIN: pin_spi0_sclk 18
PIN: pin_spi0_mosi 19
PIN: pin_i2c0_sda 20
PIN: pin_i2c0_scl 21
PIN: pin_imu_int 22
PIN: pin_led 25
PIN: pin_bat_i 27
PIN: pin_bat_v 28
HAL: SER bus 0 is hardware DMA uart0 with TX:0 RX:1
HAL: SER bus 1 is hardware DMA uart1 with TX:8 RX:9
HAL: SER bus 2 is pio uart with TX:-1 RX:-1
HAL: SER bus 3 is pio uart with TX:-1 RX:-1
HAL: SER bus 4 is pio uart with TX:-1 RX:-1
HAL: SER bus 5 is pio uart with TX:-1 RX:-1
HAL: I2C bus 0 is hardware i2c0 with SDA:20 SCL:21
HAL: I2C bus 1 is hardware i2c1 with SDA:10 SCL:11
HAL: SPI bus 0 is hardware spi0 with MISO:16 SCLK:18 MOSI:19
HAL: SPI bus 1 is hardware spi1 with MISO:12 SCLK:14 MOSI:15
I2C: Scanning i2c_bus:0 - 0x68(104) - Found 1 device(s)
I2C: Scanning i2c_bus:1 - - Found 0 device(s)
LED: HIGH_IS_ON setup - pin_led:25
RCL: SBUS setup - rcl_thr_ch:1 rcl_thr_pull:1100 rcl_thr_mid:1500 rcl_thr_push:1900 rcl_rol_ch:2 rcl_rol_left:1100 rcl_rol_mid:1500 rcl_rol_right:1900 rcl_pit_ch:3 rcl_pit_pull:1100 rcl_pit_mid:1500 rcl_pit_push:1900 rcl_yaw_ch:4 rcl_yaw_left:1100 rcl_yaw_mid:1500 rcl_yaw_right:1900 rcl_arm_ch:5 rcl_arm_min:1600 rcl_arm_max:2500 rcl_flt_ch:6 rcl_flt_min:1165 rcl_flt_max:1815 rcl_ser_bus:0 rcl_baud:0 rcl_num_ch:8 rcl_deadband:0 pin_rcl_ppm:-1
RCL: Setup completed. Channels: throttle:1 roll:2 pitch:3 yaw:4 armed:5 flightmode:6
BAR:

[qqqlab]

I assume this is the full console output you're getting. It appears that the startup sequence gets stuck after setting up SBUS. Use "rcl_gizmo NONE" to disable rcl it and see what you get.

If it still does not work, set all gizmos to NONE in your char madflight_config[], and then enable them one by one to find the offender...

[qqqlab]

Tried a MPU6050 on an ESP32 with mf 2.2.3-DEV, worked fine.

(Note: just now I pushed a 2.2.3-DEV update to github)

config:

imu_gizmo    MPU6050
imu_bus_type I2C
pin_i2c1_sda 4
pin_i2c1_scl 16
pin_imu_int  39
imu_i2c_bus  1
imu_i2c_adr  105

CLI calinfo output:

### SENSOR STATISTICS REPORT - madflight v2.2.3-DEV ###

=== MPU6050 Gyro I2C ===
gx[deg/s]       mean:+1.375032  stdev:0.603018  min:-1.594543   max:+4.302979   n:2997  rate:999Hz      noise:0.019079
gy[deg/s]       mean:-1.433216  stdev:0.699179  min:-4.798889   max:+2.067566   n:2997  rate:999Hz      noise:0.022121
gz[deg/s]       mean:-1.441225  stdev:0.153324  min:-2.120972   max:-0.724792   n:2997  rate:999Hz      noise:0.004851
=== MPU6050 Accelerometer I2C ===
ax[g]           mean:-0.058632  stdev:0.002773  min:-0.067346   max:-0.047337   n:2997  rate:999Hz      noise:0.000088
ay[g]           mean:+0.015985  stdev:0.004066  min:-0.006344   max:+0.035137   n:2997  rate:999Hz      noise:0.000129
az[g]           mean:+1.078056  stdev:0.009208  min:+1.033612   max:+1.119502   n:2997  rate:999Hz      noise:0.000291

[majestix54]

This is the Serial output after setting all Gizmos to NONE. How do I access the -DEV version

HAL: SER bus 4 is pio uart with TX:-1 RX:-1
HAL: SER bus 5 is pio uart with TX:-1 RX:-1
HAL: I2C bus 0 is hardware i2c0 with SDA:20 SCL:21
HAL: I2C bus 1 is hardware i2c1 with SDA:10 SCL:11
HAL: SPI bus 0 is hardware spi0 with MISO:16 SCLK:18 MOSI:19
HAL: SPI bus 1 is hardware spi1 with MISO:12 SCLK:14 MOSI:15
I2C: Scanning i2c_bus:0 - 0x68(104) - Found 1 device(s)
I2C: Scanning i2c_bus:1 - - Found 0 device(s)
LED: NONE setup - pin_led:25
RCL: NONE setup - rcl_thr_ch:1 rcl_thr_pull:1100 rcl_thr_mid:1500 rcl_thr_push:1900 rcl_rol_ch:2 rcl_rol_left:1100 rcl_rol_mid:1500 rcl_rol_right:1900 rcl_pit_ch:3 rcl_pit_pull:1100 rcl_pit_mid:1500 rcl_pit_push:1900 rcl_yaw_ch:4 rcl_yaw_left:1100 rcl_yaw_mid:1500 rcl_yaw_right:1900 rcl_arm_ch:5 rcl_arm_min:1600 rcl_arm_max:2500 rcl_flt_ch:6 rcl_flt_min:1165 rcl_flt_max:1815 rcl_ser_bus:0 rcl_baud:0 rcl_num_ch:8 rcl_deadband:0 pin_rcl_ppm:-1
RCL: Setup completed. Channels: throttle:1 roll:2 pitch:3 yaw:4 armed:5 flightmode:6
BAR:

[majestix54]

this is the serial output using a brand new pico2 with only usb connection and all gizmo set to none. Could it be a setup problem on my environment?

madflight v2.2.3-DEV starting 1 ...
Arduino library: Arduino-Pico v5.4.3
Board: Raspberry Pi Pico2 (default board)
Processor: RP2350
CFG: Loading EEPROM - EEPROM Header invalid, using defaults
CFG: Loading config - madflight_board loaded OK, madflight_config loaded OK
PIN: pin_ser0_tx 0
PIN: pin_ser0_rx 1
PIN: pin_out0 2
PIN: pin_out1 3
PIN: pin_out2 4
PIN: pin_out3 5
PIN: pin_out4 6
PIN: pin_out5 7
PIN: pin_ser1_tx 8
PIN: pin_ser1_rx 9
PIN: pin_i2c1_sda 10
PIN: pin_i2c1_scl 11
PIN: pin_spi1_miso 12
PIN: pin_bbx_cs 13
PIN: pin_spi1_sclk 14
PIN: pin_spi1_mosi 15
PIN: pin_spi0_miso 16
PIN: pin_imu_cs 17
PIN: pin_spi0_sclk 18
PIN: pin_spi0_mosi 19
PIN: pin_i2c0_sda 20
PIN: pin_i2c0_scl 21
PIN: pin_imu_int 22
PIN: pin_led 25
PIN: pin_bat_i 27
PIN: pin_bat_v 28
HAL: SER bus 0 is hardware DMA uart0 with TX:0 RX:1
HAL: SER bus 1 is hardware DMA uart1 with TX:8 RX:9
HAL: SER bus 2 is pio uart with TX:-1 RX:-1
HAL: SER bus 3 is pio uart with TX:-1 RX:-1
HAL: SER bus 4 is pio uart with TX:-1 RX:-1
HAL: SER bus 5 is pio uart with TX:-1 RX:-1
HAL: I2C bus 0 is hardware i2c0 with SDA:20 SCL:21
HAL: I2C bus 1 is hardware i2c1 with SDA:10 SCL:11
HAL: SPI bus 0 is hardware spi0 with MISO:16 SCLK:18 MOSI:19
HAL: SPI bus 1 is hardware spi1 with MISO:12 SCLK:14 MOSI:15
I2C: Scanning i2c_bus:0 - - Found 0 device(s)
I2C: Scanning i2c_bus:1 - - Found 0 device(s)
LED: HIGH_IS_ON setup - pin_led:25
RCL: NONE setup - rcl_thr_ch:1 rcl_thr_pull:1100 rcl_thr_mid:1500 rcl_thr_push:1900 rcl_rol_ch:2 rcl_rol_left:1100 rcl_rol_mid:1500 rcl_rol_right:1900 rcl_pit_ch:3 rcl_pit_pull:1100 rcl_pit_mid:1500 rcl_pit_push:1900 rcl_yaw_ch:4 rcl_yaw_left:1100 rcl_yaw_mid:1500 rcl_yaw_right:1900 rcl_arm_ch:5 rcl_arm_min:1600 rcl_arm_max:2500 rcl_flt_ch:6 rcl_flt_min:1165 rcl_flt_max:1815 rcl_ser_bus:0 rcl_baud:0 rcl_num_ch:8 rcl_deadband:0 pin_rcl_ppm:-1
RCL: Setup completed. Channels: throttle:1 roll:2 pitch:3 yaw:4 armed:5 flightmode:6

[qqqlab]

What are you using Arduino or Platformio? Does a standard blink program with output over USB work?

Delete your madflight dir and get a fresh copy from github. Upload helloworld without changing anything, what does the LED do?

[majestix54]

I use Platformio, the standard blink code works fine and the led blinks, I loaded a new copy from github, helloworld compiles and upload works fine. The led turns on but does not blink what should happen according to imu_loop code.

[majestix54]

If I understand correctly the imu interrupts trigger the blinking? Is there a way in the code to check if interrupts from the imu come in?

[qqqlab]

Yes, that is the purpose of the blinking LED, to show that the IMU interrupt is working.

In your fresh copy, did you configure imu_gizmo? If you leave it at NONE, the LED will just stay on.

The ps command gives also some useful info, here helloworld running on a naked RP Pico board.

--> There is no IMU rtos task, and in the wallclock reports IMU at 0Hz --> No IMU connected.

## Naked RPi Pico RP2040 HelloWorld

> ps

=== FreeRTOS Tasks ===

TID Name           CPU% Free S PR NI Core
  1 CORE0        53.98%  682 X  4  4  1
  4 IDLE0        72.97%  231 X  0  0  3
  5 IDLE1        72.99%  231 R  0  0  3
  3 IdleCore1     0.00%   96 B  7  7  2
  2 IdleCore0     0.00%   96 B  7  7  1
  6 Tmr Svc       0.00%  993 B  2  2  3
  7 mf_BBX        0.00%  474 B  4  4  3
    Total       199.95%

=== Wallclock Runtime - Measurement Period: 6.82 seconds ===

Module        Calls  Wallclock     Rt/call    Updates  Wallclock      Rt/upd
BAR         21492Hz    1.18%        0.55us        0Hz    0.00%        0.00us
BAT         21492Hz    1.19%        0.55us        0Hz    0.00%        0.00us
CLI         21491Hz   44.57%       20.74us        0Hz    0.00%        0.00us
GPS         21492Hz    1.24%        0.58us        0Hz    0.00%        0.00us
MAG         21492Hz    1.18%        0.55us        0Hz    0.00%        0.00us
OFL         21492Hz    1.25%        0.58us        0Hz    0.00%        0.00us
RCL         21492Hz    1.24%        0.58us        0Hz    0.00%        0.00us
RDR         21492Hz    3.42%        1.59us        0Hz    0.00%        0.00us
BBX             0Hz    0.00%        0.00us        0Hz    0.00%        0.00us
Other                 44.72%                             0.00%
Total  ------------  100.00%  -----------------------    0.00%  ------------
_AHR            0Hz    0.00%        0.00us        0Hz    0.00%        0.00us
_IMU            0Hz    0.00%        0.00us        0Hz    0.00%        0.00us

With sensors it looks different:

## FC3v2 RP2350B running rtos_helloworld with BBX logging enabled

Module        Calls  Wallclock     Runtime    Updates  Wallclock     Runtime
BAR          1954Hz   50.05%      256.10us       85Hz    6.97%      816.19us
BAT          1954Hz    6.26%       32.02us       28Hz    2.37%      860.72us
CLI          2754Hz   56.30%      204.40us        0Hz    4.46%   286267.00us
GPS          1956Hz    0.52%        2.64us        0Hz    0.00%        0.00us
MAG          1956Hz    7.64%       39.07us       78Hz    6.36%      819.72us
OFL          1957Hz    0.38%        1.94us        0Hz    0.00%        0.00us
RCL          5533Hz    1.04%        1.87us        0Hz    0.00%        0.00us
RDR          1958Hz    0.43%        2.20us        0Hz    0.00%        0.00us
BBX           924Hz   58.06%      628.06us      924Hz   58.06%      628.06us
Other                -80.68%                             0.00%
Total  ------------  100.00%  -----------------------   78.22%  ------------
_AHR          813Hz   15.22%      187.20us      813Hz   15.22%      187.20us
_IMU          814Hz   10.73%      131.74us      814Hz   10.73%      131.74us
_loop        3526Hz    0.41%        1.18us        0Hz    0.00%        0.00us

[majestix54]

1. The startup did not finish on my spare RP2050A with no imu. No cli prompt was shown.

2. A fresh madflight copy is used in a second attempt with a RP2040 with a MPU6050 connected to I2C0 and int on GPIO22. The rcl.setup and bar.setup in madflight.h are disabled. Only the imu is set to MPU6050 and I2C in madflight_config.h. The led turns on after restart. The code stops in the IMU section. No cli prompt comes up as the following log shows. So far I have not been able to get the code to the cli prompt.

madflight v2.2.3-DEV starting 1 
Arduino library: Arduino-Pico v5.4.3
Board: Raspberry Pi Pico (default board)
Processor: RP2040
CFG: Loading EEPROM - OK
CFG: Loading config - madflight_board loaded OK, madflight_config loaded OK
PIN: pin_ser0_tx      0
PIN: pin_ser0_rx      1
PIN: pin_out0         2
PIN: pin_out1         3
PIN: pin_out2         4
PIN: pin_out3         5
PIN: pin_out4         6
PIN: pin_out5         7
PIN: pin_ser1_tx      8
PIN: pin_ser1_rx      9
PIN: pin_i2c1_sda     10
PIN: pin_i2c1_scl     11
PIN: pin_spi1_miso    12
PIN: pin_bbx_cs       13
PIN: pin_spi1_sclk    14
PIN: pin_spi1_mosi    15
PIN: pin_spi0_miso    16
PIN: pin_imu_cs       17
PIN: pin_spi0_sclk    18
PIN: pin_spi0_mosi    19
PIN: pin_i2c0_sda     20
PIN: pin_i2c0_scl     21
PIN: pin_imu_int      22
PIN: pin_led          25
PIN: pin_bat_i        27
PIN: pin_bat_v        28
HAL: SER bus 0 is hardware DMA uart0 with TX:0 RX:1
HAL: SER bus 1 is hardware DMA uart1 with TX:8 RX:9
HAL: SER bus 2 is pio uart with TX:-1 RX:-1
HAL: SER bus 3 is pio uart with TX:-1 RX:-1
HAL: SER bus 4 is pio uart with TX:-1 RX:-1
HAL: SER bus 5 is pio uart with TX:-1 RX:-1
HAL: I2C bus 0 is hardware i2c0 with SDA:20 SCL:21
HAL: I2C bus 1 is hardware i2c1 with SDA:10 SCL:11
HAL: SPI bus 0 is hardware spi0 with MISO:16 SCLK:18 MOSI:19
HAL: SPI bus 1 is hardware spi1 with MISO:12 SCLK:14 MOSI:15
I2C: Scanning i2c_bus:0 - 0x68(104) - Found 1 device(s)
I2C: Scanning i2c_bus:1 - - Found 0 device(s)
LED: HIGH_IS_ON setup - pin_led:25 
IMU: MPU6050 setup - imu_cal_ax:

[qqqlab]

Sorry, I can't help any further based on the info I have. It appears to me that this has to do something with a difference in the dev environments that we're using. I'm moving this to discussions. Please let me know if you find out what the problem is.

[majestix54]

Being totally frustrated the last days, I moved to my old Raspberry Pi started VSC with Platformio, compiled and uploaded mf and all was working. Something in the VSC setup on my macbook seems to be the problem which I have to investigate.
Thanks a lot for your support.

[qqqlab]

Thanks for your feedback. It might be an issue with the USB serial drivers. Last week I wasted a lot of time on a similar issue: it turned out that the USB driver on the Pico expects DTR to be set whereas Mission Planner on the PC was not doing this automatically.