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  1. 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
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