Hey, the project I'm currently working on should log GPS data using the neo 6 and acceleration data using the MPU6050 to an SD card. The problem is that I cannot find a spot in the code to receive GPS data. I am using the tinygps++ library, and wherever I place this code:
while(serial_connection.available())
{
gps.encode(serial_connection.read());
}
the program breaks on me and nothing gets logged when the Arduino restarts, then only a new file is created and not even the CSV titles get written. If I let it out, the Arduino logs the acceleration perfect and created files it logs to after restart but obviously I don't get GPS data.
The csv file then looks like this:
deltaMillis, x, y, z, GPS data
28.91 0.09 -0.01 0.97
28.95 0.09 -0.01 0.97
28.98 0.09 -0.00 0.96 0 0.000000 0.000000 0.00 0.00 0.00 0
29.01 0.10 -0.00 0.97
29.05 0.10 -0.00 0.97
And if I only place
gps.encode(serial_connection.read()); The program also breaks.
Here is the full code without the code above.
#include <Wire.h>
#include <SPI.h>
#include <SD.h>
#include "TinyGPS++.h"
#include "SoftwareSerial.h"
const int frequency1 = 10;//MPU6050 frequency
const int frequency2 = 750;//GPS frequency
unsigned long timer1 = 0;
unsigned long timer2 = 0;
long accelX, accelY, accelZ;
float gForceX, gForceY, gForceZ;
float deltaTime;
int RXPin = 3;
int TXPin = 2;
String fileName = "data";
int count = 0;
bool file = false;
SoftwareSerial serial_connection(3, 2);
TinyGPSPlus gps;
File dataFile;
void setup() {
Serial.begin(9600);
serial_connection.begin(9600);//This opens up communications to the GPS
Wire.begin();
setupMPU();
//initialization of SD-card
if (!SD.begin(4)) {
Serial.println("initialization failed!");
while (1);
}
//checks if the file already exists, else creates a new one with a new name
while(!file){
if(SD.exists(fileName + ".csv")){
count++;
fileName = "data" + String(count);
}else{
file = true;
}
}
//titles(); = csv titles
titles();
Serial.println("GOGO");
delay(50);
deltaTime = millis();//time in csv
}
void loop() {
//logs acceleration
if(millis() >= (timer1 + frequency1)) {
recordAccelRegisters();
dataFile = SD.open((fileName + ".csv"), FILE_WRITE);
if(dataFile){
dataFile.print((millis()-deltaTime)/1000);
dataFile.print(",");
dataFile.print(gForceX);
dataFile.print(",");
dataFile.print(gForceY);
dataFile.print(",");
dataFile.println(gForceZ);
dataFile.close();
}else{
Serial.println("Does not log data!");
}
Serial.print(" Accel (g)");
Serial.print(" X=");
Serial.print(gForceX);
Serial.print(" Y=");
Serial.print(gForceY);
Serial.print(" Z=");
Serial.println(gForceZ);
Serial.print("");
timer1 = millis();
}
//logs GPS
if(millis() >= timer2 + frequency2){
recordAccelRegisters();
dataFile = SD.open((fileName + ".csv"), FILE_WRITE);
if(dataFile){
dataFile.print((millis()-deltaTime)/1000);
dataFile.print(",");
dataFile.print(gForceX);
dataFile.print(",");
dataFile.print(gForceY);
dataFile.print(",");
dataFile.print(gForceZ);
dataFile.print(",");
dataFile.print(gps.time.value());
dataFile.print(",");
dataFile.print(gps.location.lat(), 6);
dataFile.print(",");
dataFile.print(gps.location.lng(), 6);
dataFile.print(",");
dataFile.print(gps.speed.mps());
dataFile.print(",");
dataFile.print(gps.speed.kmph());
dataFile.print(",");
dataFile.print(gps.altitude.meters());
dataFile.print(",");
dataFile.println(gps.satellites.value());
dataFile.close();
}else{
Serial.println("No GPS");
}
Serial.print(gps.time.value());
Serial.print(",");
Serial.print(gps.location.lat(), 6);
Serial.print(",");
Serial.print(gps.location.lng(), 6);
Serial.print(",");
Serial.print(gps.speed.mps());
Serial.print(",");
Serial.print(gps.speed.kmph());
Serial.print(",");
Serial.print(gps.altitude.meters());
Serial.print(",");
Serial.println(gps.satellites.value());
timer2 = millis();
}
}
void titles(){
dataFile = SD.open((fileName + ".csv"), FILE_WRITE);
if(dataFile){
dataFile.print("time");
dataFile.print(",");
dataFile.print("x");
dataFile.print(",");
dataFile.print("y");
dataFile.print(",");
dataFile.print("z");
dataFile.print(",");
dataFile.print("GPS_time");
dataFile.print(",");
dataFile.print("Latitude");
dataFile.print(",");
dataFile.print("Longitude");
dataFile.print(",");
dataFile.print("m/s");
dataFile.print(",");
dataFile.print("km/h");
dataFile.print(",");
dataFile.print("altitude (m)");
dataFile.print(",");
dataFile.println("satellites");
dataFile.close();
}else{
Serial.println("error opening sd card");
}
}
void setupMPU(){
Wire.beginTransmission(0b1101000); //This is the I2C address of the MPU (b1101000/b1101001 for AC0 low/high datasheet sec. 9.2)
Wire.write(0x6B); //Accessing the register 6B - Power Management (Sec. 4.28)
Wire.write(0b00000000); //Setting SLEEP register to 0. (Required; see Note on p. 9)
Wire.endTransmission();
Wire.beginTransmission(0b1101000); //I2C address of the MPU
Wire.write(0x1B); //Accessing the register 1B - Gyroscope Configuration (Sec. 4.4)
Wire.write(0x00000000); //Setting the gyro to full scale +/- 250deg./s
Wire.endTransmission();
Wire.beginTransmission(0b1101000); //I2C address of the MPU
Wire.write(0x1C); //Accessing the register 1C - Acccelerometer Configuration (Sec. 4.5)
Wire.write(0b00000000); //Setting the accel to +/- 2g
Wire.endTransmission();
}
void recordAccelRegisters() {
Wire.beginTransmission(0b1101000); //I2C address of the MPU
Wire.write(0x3B); //Starting register for Accel Readings
Wire.endTransmission();
Wire.requestFrom(0b1101000,6); //Request Accel Registers (3B - 40)
while(Wire.available() < 6);
accelX = Wire.read()<<8|Wire.read(); //Store first two bytes into accelX
accelY = Wire.read()<<8|Wire.read(); //Store middle two bytes into accelY
accelZ = Wire.read()<<8|Wire.read(); //Store last two bytes into accelZ
processAccelData();
}
void processAccelData(){
gForceX = accelX / 16384.0;
gForceY = accelY / 16384.0;
gForceZ = accelZ / 16384.0;
}
Thanks in advance 