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Topic: Problema enviar datos módulo HC-06 (Read 353 times) previous topic - next topic


Estaba intentando transferir datos mediante un módulo HC-06 y al principio todo bien, ya que podía recibirlos mediante bluetooth en el smartphone. Pero resulta que al cabo de un tiempo (entre 5 y 15 minutos) deja de transmitir, y no sé a que puede ser debido, dejo el código a continuación:

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#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"
    #include "Wire.h"

// Valores RAW (sin procesar) del acelerometro y giroscopio en los ejes x,y,z
int ax, ay, az;
int gx, gy, gz;

float ax_m_s2;
float ay_m_s2;
float az_m_s2;

/////////////////PARTE DEL HC-06
#define LED 13
#define BTPWR 12

char nombreBT[16] = "HC-06";
char velocidad ='4';//4=9600 bps  8=115200 bps
char pin [5]= "0000";

MPU6050 mpu;


#define INTERRUPT_PIN 2  // use pin 2 on Arduino Uno & most boards
#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 ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
    mpuInterrupt = true;

void setup() {

  pinMode(LED, OUTPUT);
  pinMode(BTPWR, OUTPUT);

  digitalWrite(LED, LOW);
  digitalWrite(BTPWR, HIGH);

        Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
        Fastwire::setup(400, true);


    Serial.println(F("Initializing I2C devices..."));

    // 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.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..."));

        // enable Arduino interrupt detection
        Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
        attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), 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 "));

    //configure LED for output
    pinMode(LED_PIN, OUTPUT);

  digitalWrite(LED, HIGH);
  digitalWrite(13, HIGH);

void loop() {

  // Leer las aceleraciones y velocidades angulares
      mpu.getAcceleration(&ax, &ay, &az);
      mpu.getRotation(&gx, &gy, &gz);
      ax_m_s2 = ax * (9.81/16384.0);
      ay_m_s2 = ay * (9.81/16384.0);
      az_m_s2 = az * (9.81/16384.0);

  // 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) {

    // 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

    // 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;     

            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
            Serial.print(ypr[0] * 180/M_PI);
            Serial.print(" ");
            Serial.print(" ");
            Serial.print(" ");
            Serial.print(" ");

        // blink LED to indicate activity
        blinkState = !blinkState;
        digitalWrite(LED_PIN, blinkState);



Un saludo y gracias de antemano

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