shinds

#include "I2Cdev.h" #include "MPU6050_6Axis_MotionApps20.h" #include <SoftwareSerial.h> #include <TinyGPS.h> #include <Wire.h> #include "MPL3115A2.h" #include "Wire.h" MPU6050 mpu; int16_t ax, ay, az; int16_t gx, gy, gz; MPL3115A2 myPressure; TinyGPS gps; SoftwareSerial nss(3, 4); static void gpsdump(TinyGPS &gps); static bool feedgps(); static void print_float(float val, float invalid, int len, int prec); static void print_int(unsigned long val, unsigned long invalid, int len); static void print_date(TinyGPS &gps); static void print_str(const char *str, int len); // uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual // quaternion components in a [w, x, y, z] format (not best for parsing // on a remote host such as Processing or something though) //#define OUTPUT_READABLE_QUATERNION // uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles // (in degrees) calculated from the quaternions coming from the FIFO. // Note that Euler angles suffer from gimbal lock (for more info, see // http://en.wikipedia.org/wiki/Gimbal_lock) //#define OUTPUT_READABLE_EULER // uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ // pitch/roll angles (in degrees) calculated from the quaternions coming // from the FIFO. Note this also requires gravity vector calculations. // Also note that yaw/pitch/roll angles suffer from gimbal lock (for // more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) #define OUTPUT_READABLE_YAWPITCHROLL #define OUTPUT_READABLE_ACCELGYRO // uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration // components with gravity removed. This acceleration reference frame is // not compensated for orientation, so +X is always +X according to the // sensor, just without the effects of gravity. If you want acceleration // compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. //#define OUTPUT_READABLE_REALACCEL // uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration // components with gravity removed and adjusted for the world frame of // reference (yaw is relative to initial orientation, since no magnetometer // is present in this case). Could be quite handy in some cases. //#define OUTPUT_READABLE_WORLDACCEL // uncomment "OUTPUT_TEAPOT" if you want output that matches the // format used for the InvenSense teapot demo //#define OUTPUT_TEAPOT #define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) bool blinkState = false; // MPU control/status vars bool dmpReady = false; // set true if DMP init was successful uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) uint16_t packetSize; // expected DMP packet size (default is 42 bytes) uint16_t fifoCount; // count of all bytes currently in FIFO uint8_t fifoBuffer[64]; // FIFO storage buffer // orientation/motion vars Quaternion q; // [w, x, y, z] quaternion container VectorInt16 aa; // [x, y, z] accel sensor measurements VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements VectorFloat gravity; // [x, y, z] gravity vector float euler[3]; // [psi, theta, phi] Euler angle container float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector // ================================================================ // === INTERRUPT DETECTION ROUTINE === // ================================================================ volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high void dmpDataReady() { mpuInterrupt = true; } // ================================================================ // === INITIAL SETUP === // ================================================================ void setup() { // join I2C bus (I2Cdev library doesn't do this automatically) #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif Serial.begin(115200); nss.begin(9600); myPressure.begin(); // Get sensor online // Configure the sensor myPressure.setModeAltimeter(); // Measure altitude above sea level in meters //myPressure.setModeBarometer(); // Measure pressure in Pascals from 20 to 110 kPa myPressure.setOversampleRate(128); // Set Oversample to the recommended 128 myPressure.enableEventFlags(); // Enable all three pressure and temp event flags // initialize device Serial.println(F("Initializing I2C devices...")); mpu.initialize(); mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_8); Serial.print(mpu.getFullScaleAccelRange()); // verify connection Serial.println(F("Testing device connections...")); Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); /* // wait for ready Serial.println(F("\nSend any character to begin DMP programming and demo: ")); while (Serial.available() && Serial.read()); // empty buffer while (!Serial.available()); // wait for data while (Serial.available() && Serial.read()); // empty buffer again */ // load and configure the DMP Serial.println(F("Initializing DMP...")); devStatus = mpu.dmpInitialize(); // supply your own gyro offsets here, scaled for min sensitivity mpu.setXGyroOffset(220); mpu.setYGyroOffset(76); mpu.setZGyroOffset(-85); mpu.setZAccelOffset(1788); // 1688 factory default for my test chip // make sure it worked (returns 0 if so) if (devStatus == 0) { // turn on the DMP, now that it's ready Serial.println(F("Enabling DMP...")); mpu.setDMPEnabled(true); // enable Arduino interrupt detection Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)...")); attachInterrupt(0, dmpDataReady, RISING); mpuIntStatus = mpu.getIntStatus(); // set our DMP Ready flag so the main loop() function knows it's okay to use it Serial.println(F("DMP ready! Waiting for first interrupt...")); dmpReady = true; Serial.println("Sats HDOP Latitude Longitude Fix Date Time Date Alt Course Speed Card Distance Course Card Chars Sentences Checksum"); Serial.println(" (deg) (deg) Age Age (m) --- from GPS ---- ---- to London ---- RX RX Fail"); Serial.println("--------------------------------------------------------------------------------------------------------------------------------------"); // get expected DMP packet size for later comparison packetSize = mpu.dmpGetFIFOPacketSize(); } else { // ERROR! // 1 = initial memory load failed // 2 = DMP configuration updates failed // (if it's going to break, usually the code will be 1) Serial.print(F("DMP Initialization failed (code ")); Serial.print(devStatus); Serial.println(F(")")); } // configure LED for output pinMode(LED_PIN, OUTPUT); } // ================================================================ // === MAIN PROGRAM LOOP === // ================================================================ void loop() { // if programming failed, don't try to do anything if (!dmpReady) return; // wait for MPU interrupt or extra packet(s) available while (!mpuInterrupt && fifoCount < packetSize) { // other program behavior stuff here // . // . // . // if you are really paranoid you can frequently test in between other // stuff to see if mpuInterrupt is true, and if so, "break;" from the // while() loop to immediately process the MPU data // . // . // . } // reset interrupt flag and get INT_STATUS byte mpuInterrupt = false; mpuIntStatus = mpu.getIntStatus(); // get current FIFO count fifoCount = mpu.getFIFOCount(); // check for overflow (this should never happen unless our code is too inefficient) if ((mpuIntStatus & 0x10) || fifoCount == 1024) { // reset so we can continue cleanly mpu.resetFIFO(); Serial.println(F("FIFO overflow!")); // otherwise, check for DMP data ready interrupt (this should happen frequently) } else if (mpuIntStatus & 0x02) { // wait for correct available data length, should be a VERY short wait while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); // read a packet from FIFO mpu.getFIFOBytes(fifoBuffer, packetSize); // track FIFO count here in case there is > 1 packet available // (this lets us immediately read more without waiting for an interrupt) fifoCount -= packetSize; gpsdump(gps); float altitude = myPressure.readAltitude(); Serial.print("Altitude(m):"); Serial.print(altitude, 2); //altitude = myPressure.readAltitudeFt(); //Serial.print(" Altitude(ft):"); //Serial.print(altitude, 2); //float pressure = myPressure.readPressure(); //Serial.print("Pressure(Pa):"); //Serial.print(pressure, 2); float temperature = myPressure.readTemp(); Serial.print(" Temp(c):"); Serial.print(temperature, 2); //float temperature = myPressure.readTempF(); //Serial.print(" Temp(f):"); //Serial.print(temperature, 2); /* #ifdef OUTPUT_READABLE_QUATERNION // display quaternion values in easy matrix form: w x y z mpu.dmpGetQuaternion(&q, fifoBuffer); Serial.print("quat\t"); Serial.print(q.w); Serial.print("\t"); Serial.print(q.x); Serial.print("\t"); Serial.print(q.y); Serial.print("\t"); Serial.println(q.z); #endif #ifdef OUTPUT_READABLE_EULER // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetEuler(euler, &q); Serial.print("euler\t"); Serial.print(euler[0] * 180/M_PI); Serial.print("\t"); Serial.print(euler[1] * 180/M_PI); Serial.print("\t"); Serial.println(euler[2] * 180/M_PI); #endif */ #ifdef OUTPUT_READABLE_YAWPITCHROLL // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); Serial.print("ypr\t"); Serial.print(ypr[0] * 180/M_PI); Serial.print("\t"); Serial.print(ypr[1] * 180/M_PI); Serial.print("\t"); Serial.println(ypr[2] * 180/M_PI); #endif #ifdef OUTPUT_READABLE_ACCELGYRO // display tab-separated accel/gyro x/y/z values Serial.print("a/g:\t"); Serial.print(ax); Serial.print("\t"); Serial.print(ay); Serial.print("\t"); Serial.print(az); Serial.print("\t"); Serial.print(gx); Serial.print("\t"); Serial.print(gy); Serial.print("\t"); Serial.println(gz); #endif /* #ifdef OUTPUT_READABLE_REALACCEL // display real acceleration, adjusted to remove gravity mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); Serial.print("areal\t"); Serial.print(aaReal.x); Serial.print("\t"); Serial.print(aaReal.y); Serial.print("\t"); Serial.println(aaReal.z); #endif #ifdef OUTPUT_READABLE_WORLDACCEL // display initial world-frame acceleration, adjusted to remove gravity // and rotated based on known orientation from quaternion mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); Serial.print("aworld\t"); Serial.print(aaWorld.x); Serial.print("\t"); Serial.print(aaWorld.y); Serial.print("\t"); Serial.println(aaWorld.z); #endif */ // blink LED to indicate activity blinkState = !blinkState; digitalWrite(LED_PIN, blinkState); } } static void gpsdump(TinyGPS &gps) { float flat, flon; unsigned long age, date, time, chars = 0; unsigned short sentences = 0, failed = 0; static const float LONDON_LAT = 51.508131, LONDON_LON = -0.128002; print_int(gps.satellites(), TinyGPS::GPS_INVALID_SATELLITES, 5); print_int(gps.hdop(), TinyGPS::GPS_INVALID_HDOP, 5); gps.f_get_position(&flat, &flon, &age); print_float(flat, TinyGPS::GPS_INVALID_F_ANGLE, 9, 5); print_float(flon, TinyGPS::GPS_INVALID_F_ANGLE, 10, 5); print_int(age, TinyGPS::GPS_INVALID_AGE, 5); print_date(gps); print_float(gps.f_altitude(), TinyGPS::GPS_INVALID_F_ALTITUDE, 8, 2); print_float(gps.f_course(), TinyGPS::GPS_INVALID_F_ANGLE, 7, 2); print_float(gps.f_speed_kmph(), TinyGPS::GPS_INVALID_F_SPEED, 6, 2); print_str(gps.f_course() == TinyGPS::GPS_INVALID_F_ANGLE ? "*** " : TinyGPS::cardinal(gps.f_course()), 6); print_int(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0UL : (unsigned long)TinyGPS::distance_between(flat, flon, LONDON_LAT, LONDON_LON) / 1000, 0xFFFFFFFF, 9); print_float(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : TinyGPS::course_to(flat, flon, LONDON_LAT, LONDON_LON), TinyGPS::GPS_INVALID_F_ANGLE, 7, 2); print_str(flat == TinyGPS::GPS_INVALID_F_ANGLE ? "*** " : TinyGPS::cardinal(TinyGPS::course_to(flat, flon, LONDON_LAT, LONDON_LON)), 6); gps.stats(&chars, &sentences, &failed); print_int(chars, 0xFFFFFFFF, 6); print_int(sentences, 0xFFFFFFFF, 10); print_int(failed, 0xFFFFFFFF, 9); Serial.println(); } static void print_int(unsigned long val, unsigned long invalid, int len) { char sz[32]; if (val == invalid) strcpy(sz, "*******"); else sprintf(sz, "%ld", val); sz[len] = 0; for (int i=strlen(sz); i<len; ++i) sz = ' '; if (len > 0) sz[len-1] = ' '; Serial.print(sz); feedgps(); } static void print_float(float val, float invalid, int len, int prec) { char sz[32]; if (val == invalid) { strcpy(sz, "*******"); sz[len] = 0; if (len > 0) sz[len-1] = ' '; for (int i=7; i<len; ++i) sz = ' '; Serial.print(sz); } else { Serial.print(val, prec); int vi = abs((int)val); int flen = prec + (val < 0.0 ? 2 : 1); flen += vi >= 1000 ? 4 : vi >= 100 ? 3 : vi >= 10 ? 2 : 1; for (int i=flen; i<len; ++i) Serial.print(" "); } feedgps(); } static void print_date(TinyGPS &gps) { int year; byte month, day, hour, minute, second, hundredths; unsigned long age; gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredths, &age); if (age == TinyGPS::GPS_INVALID_AGE) Serial.print("******* ******* "); else { char sz[32]; sprintf(sz, "%02d/%02d/%02d %02d:%02d:%02d ", month, day, year, hour, minute, second); Serial.print(sz); } print_int(age, TinyGPS::GPS_INVALID_AGE, 5); feedgps(); } static void print_str(const char *str, int len) { int slen = strlen(str); for (int i=0; i<len; ++i) Serial.print(i<slen ? str : ' '); feedgps(); } static bool feedgps() { while (nss.available()) { if (gps.encode(nss.read())) return true; } return false; }

if i change change the scale is that going to mess up the pitch yaw and roll output? i will post my code so far. ive deleted the references for now for clarity but it has been compiled using 3 different examples

sorry just noticed my previous post didnt post complete so i updated it

Hi Guys so glad i've found this forum. i am developing a data recorder which uses various sensors connected to an arduino uno. i have managed to get a GPS unit (gp-635t) and the MPU-6050 to work within the same program. but i also have pressure/altimeter (MPL3115A2), that i need to display data for which is also i2c connected to the external sensor input on the 6050. im using the mpu6050 raw example code. ive added this code accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); accelgyro.getExternalSensorWord(px); #ifdef OUTPUT_READABLE_ACCELGYRO // display tab-separated accel/gyro x/y/z values Serial.print("a/g:\t"); Serial.print(ax); Serial.print("\t"); Serial.print(ay); Serial.print("\t"); Serial.print(az); Serial.print("\t"); Serial.print(gx); Serial.print("\t"); Serial.print(gy); Serial.print("\t"); Serial.print(gz);Serial.println(px); but i dont know if its the correct output??? also i want to change the accel to 16G ive read the other thread and read through the h file but i still dont know which bit i need to change. hopefully its a simple thing for you guys but im new to arduino and i2c thanks