fixing problem "MPU6050/examples/ do not support PICO W"

RP2040/MPU6050/examples/README.md

@@ -3,11 +3,12 @@ Also, if the libraries files (I2Cdev.h, I2Cdev.cpp, MPU6050.h, MPU6050.cpp, MPU6
 
 #### Instructions for building examples
 1. ```cd``` to the folder of the example you want to build.
-2. ```mkdir build && cd build```
-3. ```cmake ..```
-4. ```make```
-5. Copy the uf2 file to your Pico board, using ```cp``` or the file explorer you have.
-6. ```sudo minicom -D /dev/ttyACM0``` to watch the serial output. Use ```sudo```, otherwise minicom will fail to open the device and show no warnings. On Windows you can use PuTTY, choosing the COM port that was assigned (check the Device Manager) and a baudrate of 115200.
+2. If you have PICO W (PICO board with Infineon CYW43439 wireless chip), you need to uncommented 3 lines in CMakeLists.txt file.
+3. ```mkdir build && cd build```
+4. ```cmake ..```
+5. ```make```
+6. Copy the uf2 file to your Pico board, using ```cp``` or the file explorer you have.
+7. ```sudo minicom -D /dev/ttyACM0``` to watch the serial output. Use ```sudo```, otherwise minicom will fail to open the device and show no warnings. On Windows you can use PuTTY, choosing the COM port that was assigned (check the Device Manager) and a baudrate of 115200.
 
 #### Sensor calibration
 You will get better results if you measure the gyro and accelerometer offsets for your sensor *(e.g. with the accompanying calibration example)*. Set the initial offsets using `mpu.setXAccelOffset()` and friends in mpu6050_DMP_port.cpp after the call to `mpu.dmpInitialize()`.

RP2040/MPU6050/examples/mpu6050_DMP_V6.12/CMakeLists.txt

@@ -1,36 +1,41 @@
 # Generated Cmake Pico project file
 
 cmake_minimum_required(VERSION 3.13)
-
-set(CMAKE_C_STANDARD 11)
-set(CMAKE_CXX_STANDARD 17)
-
-# Pull in Raspberry Pi Pico SDK (must be before project)
+# Pull in SDK (must be before project)
+# set(PICO_BOARD pico_w)  # Needed only for PICO W
+# set(CYW43_LWIP 1)       # Needed only for PICO W
 include(pico_sdk_import.cmake)
 
 project(mpu6050_DMP_port C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
 
 # Initialise the Raspberry Pi Pico SDK
 pico_sdk_init()
 
 # Add executable. Default name is the project name, version 0.1
 
-add_executable(mpu6050_DMP_port mpu6050_DMP_port.cpp I2Cdev.cpp MPU6050.cpp )
+add_executable(mpu6050_DMP_port 
+         mpu6050_DMP_port.cpp 
+         MPU6050.cpp
+         I2Cdev.cpp
+        )
+
+# Add any user requested libraries
+target_link_libraries(mpu6050_DMP_port
+        pico_stdlib 
+        #        pico_cyw43_arch_none     # we need Wifi to access the GPIO. Needed only for PICO W
+        hardware_i2c
+        pico_double
+        )
 
 pico_set_program_name(mpu6050_DMP_port "mpu6050_DMP_port")
 pico_set_program_version(mpu6050_DMP_port "0.1")
 
 pico_enable_stdio_uart(mpu6050_DMP_port 0)
 pico_enable_stdio_usb(mpu6050_DMP_port 1)
 
-# Add the standard library to the build
-target_link_libraries(mpu6050_DMP_port pico_stdlib)
-
-# Add any user requested libraries
-target_link_libraries(mpu6050_DMP_port
-        hardware_i2c
-        pico_double
-        )
 
+# create map/bin/hex file etc.
 pico_add_extra_outputs(mpu6050_DMP_port)
 

RP2040/MPU6050/examples/mpu6050_DMP_V6.12/mpu6050_DMP_port.cpp

@@ -1,6 +1,9 @@
 #include <stdio.h>
 #include "pico/stdlib.h"
 #include "hardware/i2c.h"
+#ifndef PICO_DEFAULT_LED_PIN // PICO w with WiFi
+#include "pico/cyw43_arch.h"
+#endif
 #include "MPU6050_6Axis_MotionApps_V6_12.h"
 
 MPU6050 mpu;
@@ -33,6 +36,42 @@ void dmpDataReady() {
     mpuInterrupt = true;
 }
 
+void initLED() {
+#ifndef PICO_DEFAULT_LED_PIN // PICO w with WiFi
+    printf ("we have board with wifi (pico w) \n");
+    if (cyw43_arch_init()) {
+        printf("WiFi init failed");
+        exit(3);
+    }
+#else
+    printf ("we have board without wifi\n");
+    gpio_init(PICO_DEFAULT_LED_PIN);
+    gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
+#endif // PICO_DEFAULT_LED_PIN
+
+} // initLED()
+
+void  waitForUsbConnect() {
+#ifdef _PICO_STDIO_USB_H // We are using PICO_STDIO_USB. Have to wait for connection.
+
+#ifndef PICO_DEFAULT_LED_PIN
+    while (!stdio_usb_connected()) { // blink the pico's led until usb connection is established
+        cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 0);
+        sleep_ms(250);
+        cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
+        sleep_ms(250);
+    }
+#else
+    while (!stdio_usb_connected()) { // blink the pico's led until usb connection is established
+        gpio_put(PICO_DEFAULT_LED_PIN, 0);
+        sleep_ms(250);
+        gpio_put(PICO_DEFAULT_LED_PIN, 1);
+        sleep_ms(250);
+    }
+#endif // PICO_DEFAULT_LED_PIN
+#endif // _PICO_STDIO_USB_H
+} //  waitForUsbConnect
+
 int main() {
     stdio_init_all();
     // This example will use I2C0 on the default SDA and SCL (pins 6, 7 on a Pico)
@@ -44,14 +83,9 @@ int main() {
     // Make the I2C pins available to picotool
 
     // setup blink led
-    gpio_init(PICO_DEFAULT_LED_PIN);
-	gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
-	while (!stdio_usb_connected()) { // blink the pico's led until usb connection is established
-		gpio_put(PICO_DEFAULT_LED_PIN, 1);
-		sleep_ms(250);
-		gpio_put(PICO_DEFAULT_LED_PIN, 0);
-		sleep_ms(250);
-	}
+    // setup blink led
+    initLED();
+    waitForUsbConnect();
 
     // ================================================================
     // ===                      INITIAL SETUP                       ===

RP2040/MPU6050/examples/mpu6050_calibration/CMakeLists.txt

@@ -1,35 +1,39 @@
 # Generated Cmake Pico project file
 
 cmake_minimum_required(VERSION 3.13)
-
-set(CMAKE_C_STANDARD 11)
-set(CMAKE_CXX_STANDARD 17)
-
-# Pull in Raspberry Pi Pico SDK (must be before project)
+# Pull in SDK (must be before project)
+# set(PICO_BOARD pico_w)  # Needed only for PICO W
+# set(CYW43_LWIP 1)       # Needed only for PICO W
 include(pico_sdk_import.cmake)
 
 project(mpu6050_calibration C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
 
 # Initialise the Raspberry Pi Pico SDK
 pico_sdk_init()
 
 # Add executable. Default name is the project name, version 0.1
 
-add_executable(mpu6050_calibration mpu6050_calibration.cpp I2Cdev.cpp MPU6050.cpp )
+add_executable( mpu6050_calibration
+         mpu6050_calibration.cpp 
+         MPU6050.cpp
+         I2Cdev.cpp
+        )
+
+# Add any user requested libraries
+target_link_libraries( mpu6050_calibration 
+        pico_stdlib 
+        #        pico_cyw43_arch_none     # we need Wifi to access the GPIO. Needed only for PICO W
+        hardware_i2c
+        )
 
 pico_set_program_name(mpu6050_calibration "mpu6050_calibration")
 pico_set_program_version(mpu6050_calibration "0.1")
 
 pico_enable_stdio_uart(mpu6050_calibration 0)
 pico_enable_stdio_usb(mpu6050_calibration 1)
 
-# Add the standard library to the build
-target_link_libraries(mpu6050_calibration pico_stdlib)
-
-# Add any user requested libraries
-target_link_libraries(mpu6050_calibration
-        hardware_i2c
-        )
-
-pico_add_extra_outputs(mpu6050_calibration)
+# create map/bin/hex file etc.
+pico_add_extra_outputs( mpu6050_calibration)
 

RP2040/MPU6050/examples/mpu6050_calibration/mpu6050_calibration.cpp

@@ -1,6 +1,9 @@
 #include <stdio.h>
 #include "pico/stdlib.h"
 #include "hardware/i2c.h"
+#ifndef PICO_DEFAULT_LED_PIN // PICO w with WiFi
+#include "pico/cyw43_arch.h"
+#endif
 #include "MPU6050.h"
 
 MPU6050 accelgyro;
@@ -200,6 +203,42 @@ void PullBracketsOut(){
      } // keep going
 } // PullBracketsOut
 
+void initLED() {
+#ifndef PICO_DEFAULT_LED_PIN // PICO w with WiFi
+    printf ("we have board with wifi (pico w) \n");
+    if (cyw43_arch_init()) {
+        printf("WiFi init failed");
+        exit(3);
+    }
+#else
+    printf ("we have board without wifi\n");
+    gpio_init(PICO_DEFAULT_LED_PIN);
+    gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
+#endif // PICO_DEFAULT_LED_PIN
+
+} // initLED()
+
+void  waitForUsbConnect() {
+#ifdef _PICO_STDIO_USB_H // We are using PICO_STDIO_USB. Have to wait for connection.
+
+#ifndef PICO_DEFAULT_LED_PIN
+    while (!stdio_usb_connected()) { // blink the pico's led until usb connection is established
+        cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 0);
+        sleep_ms(250);
+        cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
+        sleep_ms(250);
+    }
+#else
+    while (!stdio_usb_connected()) { // blink the pico's led until usb connection is established
+        gpio_put(PICO_DEFAULT_LED_PIN, 0);
+        sleep_ms(250);
+        gpio_put(PICO_DEFAULT_LED_PIN, 1);
+        sleep_ms(250);
+    }
+#endif // PICO_DEFAULT_LED_PIN
+#endif // _PICO_STDIO_USB_H
+} //  waitForUsbConnect
+
 int main()
 {
     stdio_init_all();
@@ -213,14 +252,8 @@ int main()
     gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN);
 
     // setup blink led
-    gpio_init(PICO_DEFAULT_LED_PIN);
-    gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
-    while (!stdio_usb_connected()) { // blink the pico's led until usb connection is established
-        gpio_put(PICO_DEFAULT_LED_PIN, 1);
-        sleep_ms(250);
-        gpio_put(PICO_DEFAULT_LED_PIN, 0);
-        sleep_ms(250);
-    }
+    initLED();
+    waitForUsbConnect();
 
     Initialize();
     for (int i = iAx; i <= iGz; i++)