MPU9250BasicAHRS.ino sample crashes
steinoxyd last edited by
I tried to run the MPU9250BasicAHRS.ino sample, but it crashes. I have a M5Stack ESP32 GREY Development Kit with buildin IMU. On a secound device, the same code runs without problems. Does anyone have any idea why the problem occurs?
I got following outputs on the serial console:
13:43:57.119 -> ets Jun 8 2016 00:22:57 13:43:57.119 -> 13:43:57.119 -> rst:0xc (SW_CPU_RESET),boot:0x17 (SPI_FAST_FLASH_BOOT) 13:43:57.119 -> configsip: 0, SPIWP:0xee 13:43:57.119 -> clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 13:43:57.119 -> mode:DIO, clock div:1 13:43:57.119 -> load:0x3fff0018,len:4 13:43:57.119 -> load:0x3fff001c,len:1216 13:43:57.119 -> ho 0 tail 12 room 4 13:43:57.119 -> load:0x40078000,len:9720 13:43:57.119 -> ho 0 tail 12 room 4 13:43:57.119 -> load:0x40080400,len:6352 13:43:57.119 -> entry 0x400806b8 13:43:57.306 -> M5Stack initializing...OK 13:43:58.703 -> MPU9250 I AM 19 I should be 71 13:43:59.700 -> MPU9250 is online... 13:44:00.531 -> x-axis self test: acceleration trim within : -0.1% of factory value 13:44:00.531 -> y-axis self test: acceleration trim within : -1.3% of factory value 13:44:00.531 -> z-axis self test: acceleration trim within : 1.1% of factory value 13:44:00.531 -> x-axis self test: gyration trim within : -8.3% of factory value 13:44:00.531 -> y-axis self test: gyration trim within : 0.7% of factory value 13:44:00.531 -> z-axis self test: gyration trim within : 0.4% of factory value 13:44:00.930 -> Guru Meditation Error: Core 1 panic'ed (IntegerDivideByZero). Exception was unhandled. 13:44:00.930 -> Core 1 register dump: 13:44:00.930 -> PC : 0x400d47ce PS : 0x00060330 A0 : 0x800d1604 A1 : 0x3ffb1f30 13:44:00.930 -> A2 : 0x3ffb1f60 A3 : 0x3ffc01f0 A4 : 0x3ffc01fc A5 : 0x00000000 13:44:00.930 -> A6 : 0x00000000 A7 : 0x00000000 A8 : 0x00000000 A9 : 0x00000000 13:44:00.930 -> A10 : 0x00000000 A11 : 0x00000002 A12 : 0x00000000 A13 : 0x00000002 13:44:00.930 -> A14 : 0x3ffb1f60 A15 : 0x00000000 SAR : 0x0000001d EXCCAUSE: 0x00000006 13:44:00.963 -> EXCVADDR: 0x00000000 LBEG : 0x4000c2e0 LEND : 0x4000c2f6 LCOUNT : 0x00000000 13:44:00.963 -> 13:44:00.963 -> Backtrace: 0x400d47ce:0x3ffb1f30 0x400d1601:0x3ffb1f90 0x400d9c4b:0x3ffb1fb0 0x40088c19:0x3ffb1fd0 13:44:00.963 -> 13:44:00.963 -> Rebooting...
Hi @steinoxyd as far as i'm aware the mpu9250 was replaced by MPU6886 in newer versions of M5Stack Grey. if you open your stack and look on the pcb you can see your revision number. https://docs.m5stack.com/#/en/core/gray
I just saw this on the adafruit page "As of Oct 26, 2019 this product comes with a MPU6886+BMM150 9DoF sensor instead of the discontinued MPU9250"
csands last edited by
Hi @steinoxyd ,
I had the same issue which I got help with on the m5stack github before seeing this. I may as well direct you straight to it than repeating it fully here;
The issue is the 'IMU.calibrateMPU9250(IMU.gyroBias, IMU.accelBias);' which if commented out, the code will run.
From the comment from @lukasmaximus I have not realised the probable reason for the issue.