#include <SPI.h>
#include <SD.h>
#include<Wire.h>
#include <SoftwareSerial.h>
#include <TimeLib.h>
#include <TinyGPS.h>
SoftwareSerial mySerial(2, 3); // RX, TX
TinyGPS gps;
const int sdsc = 10;
File myFile;
String fileName;
void measure();
const int MPU_addr=0x68; // I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
float dAcX,dAcY,dAcZ,dTmp,dGyZ;
float avedAcX,sigmadAcX,avedAcZ,sigmadAcZ,adGyZ,tdGyZ,bdGyZ;
char saveX[8],ssigX[8];
char saveZ[8],ssigZ[8];
// Offset hours from gps time (UTC)
const int offset = 9; // Japan Time
//const int offset = 1; // Central European Time
//const int offset = -5; // Eastern Standard Time (USA)
//const int offset = -4; // Eastern Daylight Time (USA)
//const int offset = -8; // Pacific Standard Time (USA)
//const int offset = -7; // Pacific Daylight Time (USA)
int Year;
//int year;
byte Month, Day, Hour, Minute, Second, hundredths;
//byte month, day, hour, minute, second, hundredths;
unsigned long age;
float flat, flon, falt;
int isat;
char slat[12],slon[12],salt[12];
int redLED=9;
int greenLED=8;
void setup(){
Wire.begin();
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050)
Wire.endTransmission(true);
Serial.begin(9600);
mySerial.begin(9600);
if (!SD.begin(sdsc)) {
Serial.println("SD failed");
}
pinMode(redLED, OUTPUT);
pinMode(greenLED, OUTPUT);
}
void loop(){
bool newData = false;
unsigned long chars;
unsigned short sentences, failed;
// For one second we parse GPS data and report some key values
for (unsigned long start = millis(); millis() - start < 1000;)
{
while (mySerial.available())
{
char c = mySerial.read();
if (gps.encode(c))
newData = true;
}
}
if (newData)
{
gps.crack_datetime(&Year, &Month, &Day, &Hour, &Minute, &Second, &hundredths, &age);
//gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredths, &age);
setTime(Hour, Minute, Second, Day, Month, Year);
adjustTime(offset * SECS_PER_HOUR);
gps.f_get_position(&flat, &flon, &age);
falt=gps.f_altitude();
isat=gps.satellites();
Serial.print(year()); Serial.print("/");
Serial.print(month()); Serial.print("/");
Serial.print(day()); Serial.print(",");
Serial.print(hour()); Serial.print(":");
Serial.print(minute()); Serial.print(":");
Serial.print(second()); Serial.print(",");
dtostrf(flat,9, 6, slat);
dtostrf(flon,9, 6, slon);
dtostrf(falt,5, 1, salt);
Serial.print(slat); Serial.print(",");
Serial.print(slon); Serial.print(",");
Serial.print(salt); Serial.print(",");
Serial.print(isat); Serial.print(",");
}
measure();
dtostrf(avedAcX,6, 4, saveX);
dtostrf(sigmadAcX,6, 4, ssigX);
dtostrf(avedAcZ,6, 4, saveZ);
dtostrf(sigmadAcZ,6, 4, ssigZ);
Serial.print(dTmp); Serial.print(",");
Serial.print(saveX); Serial.print(",");
Serial.print(ssigX); Serial.print(",");
Serial.print(saveZ); Serial.print(",");
Serial.print(ssigZ); Serial.print(",");
Serial.print(adGyZ); Serial.print(",");
Serial.print(tdGyZ); Serial.print(",");
Serial.print(bdGyZ); Serial.print(",");
Serial.println("");
digitalWrite(greenLED, LOW);
digitalWrite(redLED, LOW);
fileName=String("log/") + month() + "_" + day() + String(".txt");
Serial.println(fileName);
//myFile = SD.open("log/roadpm.txt", FILE_WRITE);
myFile = SD.open(fileName, FILE_WRITE);
digitalWrite(greenLED, LOW);
digitalWrite(redLED, LOW);
unsigned long write_size = myFile.size();
if (myFile) {
myFile.print(year()); myFile.print("/");
myFile.print(month()); myFile.print("/");
myFile.print(day()); myFile.print(",");
myFile.print(hour()); myFile.print(":");
myFile.print(minute()); myFile.print(":");
myFile.print(second()); myFile.print(",");
myFile.print(slat); myFile.print(",");
myFile.print(slon); myFile.print(",");
myFile.print(salt); myFile.print(",");
myFile.print(isat); myFile.print(",");
myFile.print(dTmp); myFile.print(",");
myFile.print(saveX); myFile.print(",");
myFile.print(ssigX); myFile.print(",");
myFile.print(saveZ); myFile.print(",");
myFile.print(ssigZ); myFile.print(",");
myFile.print(adGyZ); myFile.print(",");
myFile.print(tdGyZ); myFile.print(",");
myFile.print(bdGyZ); myFile.print(",");
myFile.println("");
write_size = myFile.size() - write_size;
myFile.close();
}
if(write_size>10){
digitalWrite(greenLED, HIGH);
}
else{
digitalWrite(redLED, HIGH);
if(write_size==0){
SD.begin(sdsc);
}
}
}
void measure(){
int Count=200;
float SsqdAcX=0.0,SdAcX=0.0;
float sqdAcX,dAcX;
float SsqdAcZ=0.0,SdAcZ=0.0;
float sqdAcZ,dAcZ;
adGyZ=0,tdGyZ=-999.0,bdGyZ=999.0;
for(int i=0;i<Count;i++){
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true); // request a total of 14 registers
AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ=Wire.read()<<8|Wire.read(); // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
dAcX=AcX/32768.0*2;
dAcY=AcY/32768.0*2;
dAcZ=AcZ/32768.0*2;
sqdAcX=dAcX*dAcX;
SsqdAcX = SsqdAcX + sqdAcX;
SdAcX = SdAcX + dAcX;
sqdAcZ=dAcZ*dAcZ;
SsqdAcZ = SsqdAcZ + sqdAcZ;
SdAcZ = SdAcZ + dAcZ;
dTmp=Tmp/340.00+36.53;
dGyZ=GyZ/32768.0*250;
if(dGyZ>tdGyZ) tdGyZ=dGyZ;
if(dGyZ<bdGyZ) bdGyZ=dGyZ;
adGyZ = adGyZ + dGyZ;
delay(50);
}
avedAcX = SdAcX/Count;
sigmadAcX = sqrt((SsqdAcX-SdAcX*SdAcX/Count)/(Count-1));
avedAcZ = SdAcZ/Count;
sigmadAcZ = sqrt((SsqdAcZ-SdAcZ*SdAcZ/Count)/(Count-1));
adGyZ=adGyZ/Count;
}
結線
