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.