RTIMULib Library Questions

pageca

Hi,

I'm working on a project with Bela, SuperCollider and a 9 DOF sensor. I just installed the RTIMLib library following the Instructions I found here https://forum.bela.io/d/771-i2c-gyro-l3gd20h and the library works. My sensors are found and the data is being read correctly when I run the demos.

Now I want to build a small Programm (probably C++) that reads the sensor data and sends it to SuperCollider (either with OSC or with Serial Port).

I've added the library to the "Make Parameters" Box and I can include it without errors.

But I'm having a hard time getting any further than this. I'm trying to follow the Instructions of the library, but I when I try to create a RTIMUSettings file or call the createIMU Function I get errors.
/root/Bela/projects/RTI/build/render.o: In function main': /root/Bela/projects/RTI/render.cpp:19: undefined reference toRTIMUSettings::RTIMUSettings(char const)'
/root/Bela/projects/RTI/render.cpp:21: undefined reference to `RTIMU::createIMU(RTIMUSettings)'

Can someone please tell me what I'm doing wrong and explain how to use the RTIMLib Library with Bela? I'm pretty sure I'm just missing something obvious.

Thanks in advance!

giuliomoro

pageca I just installed the RTIMLib library following the Instructions I found here

What do you mean by "installed" ?

pageca I've added the library to the "Make Parameters" Box and I can include it without errors.

Can you show the content of your "Make Parameters" box?

pageca RTIMUSettings file

file or object?

pageca /root/Bela/projects/RTI/build/render.o: In function main':
/root/Bela/projects/RTI/render.cpp:19: undefined reference toRTIMUSettings::RTIMUSettings(char const)'
/root/Bela/projects/RTI/render.cpp:21: undefined reference to `RTIMU::createIMU(RTIMUSettings)'

well this means that you are using a RTIMUSettings object and calling its createIMU method and that the header file where they are declared can be correctly found (because it compiles fine), but it fails at link time ("undefined reference") because the implementation file (that is this https://github.com/RPi-Distro/RTIMULib/blob/master/RTIMULib/RTIMUSettings.cpp ) is not linked in (and probably not compiled) as part of the project. There are probably more files that this one depends upon, so the thing you should do really is to just have all the files from https://github.com/RPi-Distro/RTIMULib/tree/master/RTIMULib inside your project folder (respecting the folder hierarchy ).

If that doesn't do it, please provide more details:

answer the questions above
upload somewhere (and post a link to) the full Bela project (including the settings.json file)

pageca

Thanks giuliomoro putting the RTIMULib files into the project folder worked.

Now all I've got to do is send the data with OSC to SuperCollider, but this seems to be a bit trickier than I thought. How do I make Bela run both the C++ code sending the data and SuperCollider?

giuliomoro

this is very similar to what was done here: https://forum.bela.io/d/314-is-anyone-successfully-using-i2c-oled-lcd/81

Does your RTIMULib program have the render/setup/cleanup Bela functions? It shouldn't! This way you can run it alongside another Bela program such as scsynth. Once your program is built, you can run it alongside Supercollider on the board by starting it manually. This is not supported by the Bela IDE, so you will have to do it from the terminal (you can keep using the IDE for the Supercollider workflow).

You will need to ssh onto the board (ssh root@bela.local) and run the pre-build project. A command such as:

/root/Bela/projects/PROJECTNAME/PROJECTNAME

will run it. You can use this workflow to test that the program is behaving as expected and troubleshoot it. Once it's ready to go, you can have it start automatically at boot. This involves creating the file /lib/systemd/system/rtimu-osc.service with this content:

[Unit]
Description= RTIMU-OSC Launcher
After=network-online.target

[Service]
ExecStart=/root/Bela/projects/PROJECTNAME/PROJECTNAME
Type=simple
Restart=always
RestartSec=1
WorkingDirectory=/root/Bela/projects/PROJECTNAME
Environment=HOME=/root
KillMode=process

[Install]
WantedBy=default.target

then systemctl start rtimu-osc will start it as a one-off (use systemctl stop rtimu-osc to stop it. You can see the program log with journalctl -fu rtimu-osc. Once this also works fine, you can enable it to run at boot: systemctl enable rtimu-osc ( and disable it with systemctl disable rtimu-osc).