I'm trying to get the SD card and accelerometer to work at the same time. When I connect the SD card to the Arduino, it's ok; When I connect the accelerometer to the Arduino, it's also ok. The codes for the accelerometer and SD card work fine separately. But when I connect the shield to the Arduino, and then connect the accelerometer, and try to run a combined code, it's problematic. I've included the code I'm currently working on below. It doesn't work :(( so I would really appreciate it if you could edit it to make it work. Thank you!
btw, I'm using an mpu6050 accelerometer and an adafruit microshield sd card :)
also, I'm really sorry about the formatting of this question. to clarify, everything after this sentence is one single code.
#include <SPI.h>
#include <SD.h>
#include <Wire.h>
#include "RTClib.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
//#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
// #include "Wire.h"
//#endif
// A simple data logger for the Arduino analog pins
// how many milliseconds between grabbing data and logging it. 1000 ms is once a second
#define LOG_INTERVAL 1000 // mills between entries (reduce to take more/faster data)
// how many milliseconds before writing the logged data permanently to disk
// set it to the LOG_INTERVAL to write each time (safest)
// set it to 10*LOG_INTERVAL to write all data every 10 datareads, you could lose up to
// the last 10 reads if power is lost but it uses less power and is much faster!
#define SYNC_INTERVAL 1000 // mills between calls to flush() - to write data to the card
uint32_t syncTime = 0; // time of last sync()
#define ECHO_TO_SERIAL 1 // echo data to serial port
#define WAIT_TO_START 0 // Wait for serial input in setup()
// the digital pins that connect to the LEDs
#define redLEDpin 4
#define greenLEDpin 3
// The analog pins that connect to the sensors
//(not sure which pins on the accelerometer are the analog pins that connect to the sensor. Insert here!!)
#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;
#define OUTPUT_READABLE_YAWPITCHROLL
//#define OUTPUT_READABLE_QUATERNION
//#define OUTPUT_READABLE_EULER
//#define OUTPUT_READABLE_REALACCEL
//#define OUTPUT_READABLE_WORLDACCEL
RTC_DS1307 RTC; // define the Real Time Clock object
// for the data logging shield, we use digital pin 10 for the SD cs line
const int chipSelect = HIGH;
// the logging file
File logfile;
void error(char *str)
{
Serial.print("error: ");
Serial.println(str);
// red LED indicates error
digitalWrite(redLEDpin, HIGH);
while(1);
}
void setup(void)
{
Serial.begin(9600);
Serial.println();
// use debugging LEDs
pinMode(redLEDpin, OUTPUT);
pinMode(greenLEDpin, OUTPUT);
#if WAIT_TO_START
Serial.println("Type any character to start");
while (!Serial.available());
#endif //WAIT_TO_START
// initialize the SD card
Serial.print("Initializing SD card...");
// make sure that the default chip select pin is set to
// output, even if you don't use it:
pinMode(10, OUTPUT);
// see if the card is present and can be initialized:
if (!SD.begin(chipSelect)) {
error("Card failed, or not present");
}
Serial.println("card initialized.");
// create a new file
char filename[] = "LOGGER00.CSV";
for (uint8_t i = 0; i < 100; i++) {
filename[6] = i/10 + '0';
filename[7] = i%10 + '0';
if (! SD.exists(filename)) {
// only open a new file if it doesn't exist
logfile = SD.open(filename, FILE_WRITE);
break; // leave the loop!
}
}
if (! logfile) {
error("couldnt create file");
}
Serial.print("Logging to: ");
Serial.println(filename);
// connect to RTC
Wire.begin();
if (!RTC.begin()) {
logfile.println("RTC failed");
#if ECHO_TO_SERIAL
Serial.println("RTC failed");
#endif //ECHO_TO_SERIAL
}
logfile.println("Hello,World,!!!");
#if ECHO_TO_SERIAL
Serial.println("Hello,World,!!!");
#endif //ECHO_TO_SERIAL
// If you want to set the aref to something other than 5v
analogReference(EXTERNAL);
}
// 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
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(9600);
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
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() && Serial.read()); // empty buffer again
// 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.print(F("Enabling interrupt detection (Arduino external interrupt "));
Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
Serial.println(F(")..."));
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(")"));
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
void loop(void)
{
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
if (mpuInterrupt && fifoCount < packetSize) {
// try to get out of the infinite loop
fifoCount = mpu.getFIFOCount();
}
DateTime now;
// delay for the amount of time we want between readings
delay((LOG_INTERVAL -1) - (millis() % LOG_INTERVAL));
digitalWrite(greenLEDpin, HIGH);
// log milliseconds since starting
uint32_t m = millis();
logfile.print(m); // milliseconds since start
logfile.print(", ");
#if ECHO_TO_SERIAL
Serial.print(m); // milliseconds since start
Serial.print(", ");
#endif
// fetch the time
now = RTC.now();
// log time
logfile.print(now.unixtime()); // seconds since 1/1/1970
logfile.print(", ");
logfile.print('"');
logfile.print(now.year(), DEC);
logfile.print("/");
logfile.print(now.month(), DEC);
logfile.print("/");
logfile.print(now.day(), DEC);
logfile.print(" ");
logfile.print(now.hour(), DEC);
logfile.print(":");
logfile.print(now.minute(), DEC);
logfile.print(":");
logfile.print(now.second(), DEC);
logfile.print('"');
#if ECHO_TO_SERIAL
Serial.print(now.unixtime()); // seconds since 1/1/1970
Serial.print(", ");
Serial.print('"');
Serial.print(now.year(), DEC);
Serial.print("/");
Serial.print(now.month(), DEC);
Serial.print("/");
Serial.print(now.day(), DEC);
Serial.print(" ");
Serial.print(now.hour(), DEC);
Serial.print(":");
Serial.print(now.minute(), DEC);
Serial.print(":");
Serial.print(now.second(), DEC);
Serial.print('"');
#endif //ECHO_TO_SERIAL
analogRead(photocellPin);
delay(10);
int photocellReading = analogRead(photocellPin);
analogRead(tempPin);
delay(10);
int tempReading = analogRead(tempPin);
logfile.print(", ");
logfile.print(photocellReading);
logfile.print(", ");
logfile.print(temperatureF);
#if ECHO_TO_SERIAL
Serial.print(", ");
Serial.print(photocellReading);
Serial.print(", ");
Serial.print(temperatureF);
#endif //ECHO_TO_SERIAL
}
// reset interrupt flag btw, I'm using an mpu6050 accelerometer and get INT_STATUS byte
mpuInterrupt = false;an adafruit microshield sd card :)
mpuIntStatus = mpualso, I'm really sorry about the formatting of this question.getIntStatus(); to clarify, everything after this sentence is one single code.
#include <SPI.h>
#include <SD.h>
#include <Wire.h>
#include "RTClib.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
// get#if currentI2CDEV_IMPLEMENTATION FIFO== countI2CDEV_ARDUINO_WIRE
fifoCount// = mpu #include "Wire.getFIFOCount();h"
//#endif
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
fifoCount = mpu.getFIFOCount();
Serial.println(F("FIFO overflow!"));
// otherwise, check forA DMPsimple data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)) {
// waitlogger for correct available data length, should be a VERY short wait
while (fifoCount < packetSize)the fifoCountArduino =analog mpu.getFIFOCount();pins
// readhow amany packetmilliseconds frombetween FIFO
grabbing data and logging mpuit.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case1000 therems is > 1once packeta availablesecond
#define LOG_INTERVAL 1000 // (this lets us immediatelymills readbetween moreentries without(reduce waitingto fortake anmore/faster interruptdata)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_QUATERNION
// displayhow quaternionmany valuesmilliseconds inbefore easywriting matrixthe form:logged wdata xpermanently yto zdisk
// mpu.dmpGetQuaternion(&q,set fifoBuffer);
it to the LOG_INTERVAL to write each time Serial.print("quat\t"safest);
// set it to 10*LOG_INTERVAL to write all Serial.print(q.w);
data every 10 datareads, you could lose up Serial.print("\t");to
// the last 10 reads if power is Serial.print(q.x);
lost but it uses less power and is Serial.print("\t");much faster!
#define SYNC_INTERVAL 1000 // mills between calls to Serial.printflush(q.y);
- to write data to the Serial.print("\t");card
uint32_t syncTime = 0; // time of last Serial.printlnsync(q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
#define ECHO_TO_SERIAL 1 // display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
echo data to serial Serial.print("euler\t");port
#define WAIT_TO_START Serial.print(euler[0] *0 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Wait for serial input in Serial.printlnsetup(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
the digital pins that connect to the Serial.print("\t");LEDs
Serial.println(ypr[2]#define *redLEDpin 180/M_PI);4
#define greenLEDpin #endif3
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
The analog pins that connect to the Serial.print(aaReal.x);sensors
Serial.print//("\t");
not sure which pins on the accelerometer Serial.print(aaReal.y);
are the analog pins that connect to the Serialsensor.print("\t");
Insert Serial.println(aaReal.zhere!!);
#endif
#define INTERRUPT_PIN 2 #ifdef// OUTPUT_READABLE_WORLDACCEL
use pin 2 on Arduino Uno & most boards
#define LED_PIN 13 // display(Arduino initialis world-frame13, accelerationTeensy is 11, adjustedTeensy++ tois remove6)
bool gravityblinkState = false;
#define OUTPUT_READABLE_YAWPITCHROLL
//#define OUTPUT_READABLE_QUATERNION
//#define OUTPUT_READABLE_EULER
//#define OUTPUT_READABLE_REALACCEL
//#define OUTPUT_READABLE_WORLDACCEL
RTC_DS1307 RTC; // define the Real Time Clock object
// andfor rotatedthe baseddata onlogging knownshield, orientationwe fromuse quaterniondigital pin 10 for the SD cs line
const int chipSelect = HIGH;
// the logging file
File logfile;
void error(char mpu*str)
{
Serial.dmpGetQuaternionprint(&q,"error: fifoBuffer");
Serial.println(str);
// red LED indicates mpu.dmpGetAccelerror
digitalWrite(&aaredLEDpin, fifoBufferHIGH);
while(1);
}
void setup(void)
{
Serial.begin(9600);
mpuSerial.dmpGetGravityprintln(&gravity);
// use debugging LEDs
pinMode(redLEDpin, &qOUTPUT);
pinMode(greenLEDpin, OUTPUT);
#if WAIT_TO_START
mpuSerial.dmpGetLinearAccelprintln(&aaReal,"Type &aa,any &gravitycharacter to start");
while (!Serial.available());
#endif //WAIT_TO_START
// initialize the SD mpucard
Serial.dmpGetLinearAccelInWorldprint(&aaWorld"Initializing SD card...");
// make sure that the default chip select pin is set to
// output, &aaRealeven if you don't use it:
pinMode(10, &qOUTPUT);
// see if the card is Serialpresent and can be initialized:
if (!SD.printbegin("aworld\t"chipSelect);) {
error("Card failed, or not present");
}
Serial.printprintln(aaWorld"card initialized.x");
// create a new Serialfile
char filename[] = "LOGGER00.printCSV";
for ("\t"uint8_t i = 0; i < 100; i++) {
filename[6] = i/10 + '0';
filename[7] = i%10 + '0';
if (! SD.exists(filename)) {
// only open a new file if it doesn't exist
logfile = SD.open(filename, FILE_WRITE);
break; // leave the loop!
}
}
if (! logfile) {
error("couldnt create file");
}
Serial.print(aaWorld"Logging to: ");
Serial.yprintln(filename);
// connect to RTC
Wire.begin();
if (!RTC.begin()) {
logfile.println("RTC failed");
#if ECHO_TO_SERIAL
Serial.printprintln("\t""RTC failed");
#endif //ECHO_TO_SERIAL
}
logfile.println("Hello,World,!!!");
#if ECHO_TO_SERIAL
Serial.println(aaWorld"Hello,World,!!!");
#endif //ECHO_TO_SERIAL
// If you want to set the aref to something other than 5v
analogReference(EXTERNAL);
}
// 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
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.zbegin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
Serial.begin(9600);
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
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() && Serial.read()); // empty buffer again
// 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.print(F("Enabling interrupt detection (Arduino external interrupt "));
Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
Serial.println(F(")..."));
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(")"));
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
void loop(void){
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
if (mpuInterrupt && fifoCount < packetSize) {
// try to get out of the infinite loop
fifoCount = mpu.getFIFOCount();
}
DateTime now;
// delay for the amount of time we want between readings
delay((LOG_INTERVAL -1) - (millis() % LOG_INTERVAL));
digitalWrite(greenLEDpin, HIGH);
// log milliseconds since starting
uint32_t m = millis();
logfile.print(m); // milliseconds since start
logfile.print(", ");
#if ECHO_TO_SERIAL
Serial.print(m); // milliseconds since start
Serial.print(", ");
#endif
// fetch the time
now = RTC.now();
// log time
logfile.print(now.unixtime()); // seconds since 1/1/1970
logfile.print(", ");
logfile.print('"');
logfile.print(now.year(), DEC);
logfile.print("/");
logfile.print(now.month(), DEC);
logfile.print("/");
logfile.print(now.day(), DEC);
logfile.print(" ");
logfile.print(now.hour(), DEC);
logfile.print(":");
logfile.print(now.minute(), DEC);
logfile.print(":");
logfile.print(now.second(), DEC);
logfile.print('"');
#if ECHO_TO_SERIAL
Serial.print(now.unixtime()); // seconds since 1/1/1970
Serial.print(", ");
Serial.print('"');
Serial.print(now.year(), DEC);
Serial.print("/");
Serial.print(now.month(), DEC);
Serial.print("/");
Serial.print(now.day(), DEC);
Serial.print(" ");
Serial.print(now.hour(), DEC);
Serial.print(":");
Serial.print(now.minute(), DEC);
Serial.print(":");
Serial.print(now.second(), DEC);
Serial.print('"');
#endif //ECHO_TO_SERIAL
analogRead(photocellPin);
delay(10);
int photocellReading = analogRead(photocellPin);
analogRead(tempPin);
delay(10);
int tempReading = analogRead(tempPin);
logfile.print(", ");
logfile.print(photocellReading);
logfile.print(", ");
logfile.print(temperatureF);
#if ECHO_TO_SERIAL
Serial.print(", ");
Serial.print(photocellReading);
Serial.print(", ");
Serial.print(temperatureF);
#endif //ECHO_TO_SERIAL
}
// 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 & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
fifoCount = mpu.getFIFOCount();
Serial.println(F("FIFO overflow!"));
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)) {
// 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;
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.println(ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);
#endif
logfile.println();
#if ECHO_TO_SERIAL
Serial.println();
#endif // ECHO_TO_SERIAL
digitalWrite(greenLEDpin, LOW);
// Now we write data to disk! Don't sync too often - requires 2048 bytes of I/O to SD card
// which uses a bunch of power and takes time
if ((millis() - syncTime) < SYNC_INTERVAL) return;
syncTime = millis();
// blink LED to show we are syncing data to the card & updating FAT!
digitalWrite(redLEDpin, HIGH);
logfile.flush();
digitalWrite(redLEDpin, LOW);
}
logfile.println();
#if ECHO_TO_SERIAL
Serial.println();
#endif // ECHO_TO_SERIAL
digitalWrite(greenLEDpin, LOW);
// Now we write data to disk! Don't sync too often - requires 2048 bytes of I/O to SD card
// which uses a bunch of power and takes time
if ((millis() - syncTime) < SYNC_INTERVAL) return;
syncTime = millis();
// blink LED to show we are syncing data to the card & updating FAT!
digitalWrite(redLEDpin, HIGH);
logfile.flush();
digitalWrite(redLEDpin, LOW);
}
