I want to use 2 sensors on the pin A4, A5. The sensors are BMP180, AltIMU-10 v5, and I have no clue what to do. Please assist me in this, because I combined 2 codes thinking that there would be no conflicting pins. I have little to no understanding of I2C, so your help would be greatly appreciated.
#include <SD.h>
#include <SPI.h>
#include <SD.h>
#include <Wire.h>
#include <Adafruit_BMP085.h>
#include <DHT.h>
#define DHTTYPE DHT22
#define DHTPIN 7
#define IMU_V5
int SENSOR_SIGN[9] = {1,1,1,-1,-1,-1,1,1,1};
#define GRAVITY 256
#define seaLevelPressure_hPa 1013.25
#define ToRad(x) ((x)*0.01745329252) // *pi/180
#define ToDeg(x) ((x)*57.2957795131) // *180/pi
#define Gyro_Gain_X 0.07 //X axis Gyro gain
#define Gyro_Gain_Y 0.07 //Y axis Gyro gain
#define Gyro_Gain_Z 0.07 //Z axis Gyro gain
#define Gyro_Scaled_X(x) ((x)*ToRad(Gyro_Gain_X)) //Return the scaled ADC raw data of the gyro in radians for second
#define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second
#define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second
#define DHT22_PIN 8
#define M_X_MIN -1000
#define M_Y_MIN -1000
#define M_Z_MIN -1000
#define M_X_MAX +1000
#define M_Y_MAX +1000
#define M_Z_MAX +1000
#define Kp_ROLLPITCH 0.02
#define Ki_ROLLPITCH 0.00002
#define Kp_YAW 1.2
#define Ki_YAW 0.00002
#define OUTPUTMODE 1
#define PRINT_DCM 0 //Will print the whole direction cosine matrix
#define PRINT_ANALOGS 0 //Will print the analog raw data
#define PRINT_EULER 1 //Will print the Euler angles Roll, Pitch and Yaw
#define STATUS_LED 13
const int buttonPin = 2;
int buttonState = 0;
const int chipSelect = 4;
File myFile;
float G_Dt=0.02; // Integration time (DCM algorithm) We will run the integration loop at 50Hz if possible
long timer=0; //general purpuse timer
long timer_old;
long timer24=0; //Second timer used to print values
int AN[6]; //array that stores the gyro and accelerometer data
int AN_OFFSET[6]={0,0,0,0,0,0}; //Array that stores the Offset of the sensors
int gyro_x;
int gyro_y;
int gyro_z;
int accel_x;
int accel_y;
int accel_z;
int magnetom_x;
int magnetom_y;
int magnetom_z;
float c_magnetom_x;
float c_magnetom_y;
float c_magnetom_z;
float MAG_Heading;
float Accel_Vector[3]= {0,0,0}; //Store the acceleration in a vector
float Gyro_Vector[3]= {0,0,0};//Store the gyros turn rate in a vector
float Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data
float Omega_P[3]= {0,0,0};//Omega Proportional correction
float Omega_I[3]= {0,0,0};//Omega Integrator
float Omega[3]= {0,0,0};
// Euler angles
float roll;
float pitch;
float yaw;
// idk
float hum;
float temp;
Adafruit_BMP085 bmp;
DHT dht(DHTPIN, DHTTYPE);
float errorRollPitch[3]= {0,0,0};
float errorYaw[3]= {0,0,0};
unsigned int counter=0;
byte gyro_sat=0;
float DCM_Matrix[3][3]= {
{
1,0,0 }
,{
0,1,0 }
,{
0,0,1 }
};
float Update_Matrix[3][3]={{0,1,2},{3,4,5},{6,7,8}}; //Gyros here
float Temporary_Matrix[3][3]={
{
0,0,0 }
,{
0,0,0 }
,{
0,0,0 }
};
void setup()
{
Serial.begin(115200);
pinMode (STATUS_LED,OUTPUT); // Status LED
dht.begin();
I2C_Init();
Serial.println("Pololu MinIMU-9 + Arduino AHRS");
digitalWrite(STATUS_LED,LOW);
delay(1500);
Accel_Init();
Compass_Init();
Gyro_Init();
delay(20);
for(int i=0;i<32;i++) // We take some readings...
{
Read_Gyro();
Read_Accel();
for(int y=0; y<6; y++) // Cumulate values
AN_OFFSET[y] += AN[y];
delay(20);
}
for(int y=0; y<6; y++)
AN_OFFSET[y] = AN_OFFSET[y]/32;
AN_OFFSET[5]-=GRAVITY*SENSOR_SIGN[5];
//Serial.println("Offset:");
for(int y=0; y<6; y++)
Serial.println(AN_OFFSET[y]);
delay(2000);
digitalWrite(STATUS_LED,HIGH);
timer=millis();
delay(20);
counter=0;
pinMode(buttonPin, INPUT);
Serial.println("Initializing SD card...");
if(!SD.begin(chipSelect)) {
Serial.println("initialization failed!");
return;
}
Serial.println("initialization done.");
myFile=SD.open("DATA.txt", FILE_WRITE);
if (myFile) {
Serial.println("File opened ok");
myFile.println("Output of BMP180, DHT22");
}
myFile.close();
if (!bmp.begin()) {
Serial.println("Could not find a valid BMP085 sensor, check wiring!");
while (1) {}
}
}
void loop() //Main Loop
{
buttonState = digitalRead(buttonPin);
if(buttonState == HIGH){
Serial.print("Temperature = ");
Serial.print(bmp.readTemperature());
Serial.println(" *C");
Serial.print("Pressure = ");
Serial.print(bmp.readPressure());
Serial.println(" Pa");
Serial.print("Altitude = ");
Serial.print(bmp.readAltitude());
Serial.println(" meters");
Serial.print("Pressure at sealevel (calculated) = ");
Serial.print(bmp.readSealevelPressure());
Serial.println(" Pa");
Serial.print("Real altitude = ");
Serial.print(bmp.readAltitude(seaLevelPressure_hPa * 100));
Serial.println(" meters");
Serial.println();
hum = dht.readHumidity();
temp = dht.readTemperature();
Serial.print("Humidity: ");
Serial.print(hum);
Serial.print(" %, Temp: ");
Serial.print(temp);
Serial.println(" Celsius");
myFile = SD.open("DATA.txt", FILE_WRITE);
if (myFile) {
Serial.println("open with success");
myFile.print(temp);
myFile.println(",");
myFile.print(hum);
}
myFile.close();
delay(2000);
}
else{
Serial.println("Error!!!");
}
if((millis()-timer)>=20) // Main loop runs at 50Hz
{
counter++;
timer_old = timer;
timer=millis();
if (timer>timer_old)
{
G_Dt = (timer-timer_old)/1000.0; // Real time of loop run. We use this on the DCM algorithm (gyro integration time)
if (G_Dt > 0.2)
G_Dt = 0; // ignore integration times over 200 ms
}
else
G_Dt = 0;
// *** DCM algorithm
// Data adquisition
Read_Gyro(); // This read gyro data
Read_Accel(); // Read I2C accelerometer
if (counter > 5) // Read compass data at 10Hz... (5 loop runs)
{
counter=0;
Read_Compass(); // Read I2C magnetometer
Compass_Heading(); // Calculate magnetic heading
}
// Calculations...
Matrix_update();
Normalize();
Drift_correction();
Euler_angles();
// ***
printdata();
}
}
