PaulS:
The point was that if you want help HERE, you post your code HERE. We don't go looking for your code on some virus-infested site.
The code 2 in its entirety :
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "Wire.h"
#include <SoftwareSerial.h>
#include <TinyGPS.h>
SoftwareSerial mySerial(10, 11); // RX, TX
TinyGPS gps;
MPU6050 mpu(0x69);
using namespace std;
#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 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' };
int smallBups = 0, LargeBups = 0;
class valuesPackage
{
public:
float p = 0, r =0;
};
int index = 0;
valuesPackage valuesArr[2]; //os
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup() {
//NOTE for PAULS FROM ARDUINO.CC FORUMS
//heres where the problem is. remove Wire.begin and GPSworks
Wire.begin();
Serial.begin(9600);
// GPS starts here
// set the data rate for the SoftwareSerial port
mySerial.begin(9600);
//GPS ends here
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// wait for ready
// 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(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 "));
Serial.print(devStatus);
Serial.println(F(")"));
}
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop() {
//MPU6050 void setup stuff copied here
//GPS code ends here
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
// 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;
//Yaw pitch roll calculation starts here.
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
valuesPackage obj;
obj.p = ypr[1] * 180/M_PI;
obj.r = ypr[2] * 180/M_PI;
valuesArr[index%2] = obj;
index++;
if(index > 7)
{
int lastIndex = (index+1)%2;
int p = valuesArr[index%2].p - valuesArr[lastIndex].p;
int r = valuesArr[index%2].r - valuesArr[lastIndex].r;
p = abs(p);
r = abs(r);
if((p > 1 && p <= 7) || (r > 1 && r <= 7))
{
Serial.println("small bump\t with pr \t");
Serial.println(p);
Serial.println(r);
}
else if( p > 7 || r > 7)
{
Serial.println("larg bump\t with pr \t");
Serial.println(p);
Serial.println(r);
}
}
delay(300);
//ttvalue=millis()-ttvalue;
//Serial.println(ttvalue);
#endif
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
//GPS code starts here
long lat, lon;
if (mySerial.available()) {
char c = mySerial.read();
if (gps.encode(c)) {
Serial.println("Acquired Data");
Serial.println("-------------");
gps.get_position(&lat, &lon);
Serial.print("Lat/Long(10^-5 deg): "); Serial.print(lat); Serial.print(", "); Serial.print(lon);
Serial.println();
}
}
}