Hello!
I'm trying to log the acceleration measured by a MPU6050 on a GY-521 breakout board on a microSD card using a microSD shield made by Sparkfun.
Because the MPU6050_DMP6 sketch from the MPU6050 library of Jeff Rowberg (also using his I2Cdev lib) and the dataLogger sketch from the SDfat library both worked very good (when runnning alone) i thought i could combine them to achieve my goal.
I deleted the (for my use) unnecessary code and instead of printing the acceleration data to the serial monitor i print it to the logfile.
But this is not working so great. The sketch stops working completely random. Sometimes it runs for a couple of minutes, sometimes only for a few seconds. When it freezes i have to reset the arduino and it runs again for some time.
I just can't figure out what the problem is.
Here is what i already tried:
1) check the connections
SD shield is just put on top of the arduino
MPU -> Arduino
VCC -> 5V
GND -> GND
SCL -> Analog 5
SDA -> Analog 4
INT -> Digital 2
solder points look good
2) check memory usage
don't remember the exact value but it was stable and there was enough free memory
3) a LOT of different approaches how to handle the data
all with pretty much the same results, i will spare you the details because mostly it was "try and error"
Here is the basic sketch i described:
/////////////////////////////////////////////////////////////////////////////////
#define BUTTON_PIN 4
/////////////////////////////////////////////////////////////////////////////////
//////////////Includes, Constants and Objects for datalogging////////////////////
#include <SdFat.h>
// SD chip select pin. Be sure to disable any other SPI devices such as Enet.
const uint8_t chipSelect = 8;
//#define LOG_ACC
// Log file base name. Must be six characters or less.
#define FILE_BASE_NAME "DATA"
// Error messages stored in flash.
#define error(msg) error_P(PSTR(msg))
// File system object.
SdFat sd;
// Log file.
SdFile file;
//Variable for collumn separation *************
char tab = ';';
/////////////////////////////////////////////////////////////////////////////////
//////////////////////Includes, Constants and Objects for MPU////////////////////
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
//#define OUTPUT_READABLE_REALACCEL
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high
//#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
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
/////////////////////////////////////////////////////////////////////////////////
//////////////////////////////User functions/////////////////////////////////////
//------------------------------------------------------------------------------
// Write data header.
void writeHeader()
{
file.print(F("accel_X"));
file.print(tab);
file.print(F("accel_Y"));
file.print(tab);
file.print(F("accel_Z"));
file.println();
}
//------------------------------------------------------------------------------
// error messages
void error_P(const char* msg) {
sd.errorHalt_P(msg);
}
//------------------------------------------------------------------------------
// Interrupt detection
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
//------------------------------------------------------------------------------
// setup function
void setup()
{
const uint8_t BASE_NAME_SIZE = sizeof(FILE_BASE_NAME) - 1;
char fileName[13] = FILE_BASE_NAME "00.CSV";
Serial.begin(115200);
//while (!Serial) {} // wait for Leonardo
//delay(1000);
pinMode(BUTTON_PIN, INPUT_PULLUP);
Serial.println(F("Press Button to start"));
while(digitalRead(BUTTON_PIN)) {} //wait for button
// Initialize the SD card at SPI_HALF_SPEED to avoid bus errors with
// breadboards. use SPI_FULL_SPEED for better performance.
if (!sd.begin(chipSelect, SPI_FULL_SPEED)) sd.initErrorHalt();
// Find an unused file name.
if (BASE_NAME_SIZE > 6)
{
error("FILE_BASE_NAME too long");
}
while (sd.exists(fileName))
{
if (fileName[BASE_NAME_SIZE + 1] != '9')
{
fileName[BASE_NAME_SIZE + 1]++;
}
else if (fileName[BASE_NAME_SIZE] != '9')
{
fileName[BASE_NAME_SIZE + 1] = '0';
fileName[BASE_NAME_SIZE]++;
}
else
{
error("Can't create file name");
}
}
if (!file.open(fileName, O_CREAT | O_WRITE | O_EXCL)) error("file.open");
do
{
delay(10);
} while (Serial.read() >= 0);
Serial.print(F("Logging to: "));
Serial.println(fileName);
// Write data header.
writeHeader();
// 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
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// 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(99);
mpu.setYGyroOffset(-35);
mpu.setZGyroOffset(67);
mpu.setZAccelOffset(1106); // 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;
// 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(13, OUTPUT);
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop()
{
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt
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;
// get real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
file.print(aaReal.x);
file.write(tab);//***************
file.print(aaReal.y);
file.write(tab);//***************
file.println(aaReal.z);
// Force data to SD and update the directory entry to avoid data loss.
if (!file.sync() || file.getWriteError()) Serial.println(F("write error"));
if (!digitalRead(BUTTON_PIN))
{
// Close file and stop.
file.close();
Serial.println(F("Done"));
while(1) {}
}
}
}
If you have any ideas how to solve this issue, any help will be greatly appreciated.
wambo
