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 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); }