未分類 – 計測・解析ラボ

5V駆動のステッピングモーターを試す

28BYJ48 DC 5V 4-フェーズ5線式ステッピングモータとULN2003ドライバボード
これも去年の春に購入したまま眠っていたパーツです。中国直送で200円前後で購入できます。

便利なライブラリを見つけて動かしてみたという段階です。通常のstepperライブラリではなく、AccelStepperというライブラリを使うことでハーフステップで滑らかに駆動することができます。28BYJ-48モーターでの使い方は42Botsの記事に従いました。

回転数は1000pps(およそ15rpm)が上限で、それ以上はトルクが小さくなり指でシャフトをつまむと止まってしまいます。

//http://42bots.com/tutorials/28byj-48-stepper-motor-with-uln2003-driver-and-arduino-uno/

//Yes. It also helps that I've done the experiment with a fragment of mirror on the motor shaft,
// a laser pointer, and a bit of tape on the wall, confirming the 4096 and refuting the 4048.
#include <AccelStepper.h>
#define HALFSTEP 8

// Motor pin definitions
#define motorPin1  8     // IN1 on the ULN2003 driver 1
#define motorPin2  9     // IN2 on the ULN2003 driver 1
#define motorPin3  10     // IN3 on the ULN2003 driver 1
#define motorPin4  11     // IN4 on the ULN2003 driver 1

// Initialize with pin sequence IN1-IN3-IN2-IN4 for using the AccelStepper with 28BYJ-48
AccelStepper stepper1(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);

void setup() {
  stepper1.setMaxSpeed(1000.0);
  stepper1.setAcceleration(500.0);
  stepper1.setSpeed(2000);
  stepper1.moveTo(40760);

}//--(end setup )---

void loop() {

  //Change direction when the stepper reaches the target position
  if (stepper1.distanceToGo() == 0) {
    stepper1.moveTo(-stepper1.currentPosition());
  }
  stepper1.run();
}

//http://42bots.com/tutorials/28byj-48-stepper-motor-with-uln2003-driver-and-arduino-uno/

//Yes. It also helps that I've done the experiment with a fragment of mirror on the motor shaft,

// a laser pointer, and a bit of tape on the wall, confirming the 4096 and refuting the 4048.

#include <AccelStepper.h>

#define HALFSTEP 8

// Motor pin definitions

#define motorPin1 8 // IN1 on the ULN2003 driver 1

#define motorPin2 9 // IN2 on the ULN2003 driver 1

#define motorPin3 10 // IN3 on the ULN2003 driver 1

#define motorPin4 11 // IN4 on the ULN2003 driver 1

// Initialize with pin sequence IN1-IN3-IN2-IN4 for using the AccelStepper with 28BYJ-48

AccelStepper stepper1(HALFSTEP, motorPin1, motorPin3, motorPin2, motorPin4);

void setup() {

stepper1.setMaxSpeed(1000.0);

stepper1.setAcceleration(500.0);

stepper1.setSpeed(2000);

stepper1.moveTo(40760);

}//--(end setup )---

void loop() {

//Change direction when the stepper reaches the target position

if (stepper1.distanceToGo() == 0) {

stepper1.moveTo(-stepper1.currentPosition());

}

stepper1.run();

}

美しいミニマリズムの8pinoで光る置き物を作る

最近のArduino IDEではボード追加で8pino(Trinket 8MHz)をプログラミングできるようになりました。価格は888円なので中国直送互換機には及びませんが、ボードの小ささでは群を抜いています。

I2Cの加速度センサーで姿勢を検知して傾けるとフルカラーLEDの色や光の強さが変わるようにプログラミングしてみました。

用意した機材
8pino
GY521(加速度・ジャイロセンサー)
マイコン内臓フルカラーLED

機能
加速度センサーで置き物の前後左右方向の傾きに応じて目に配置された２個のLEDの色と明るさが変化します。不感帯を設けて垂直に静止している時には光らないようにしています。

// for 8pino 2017.01.05 Koji Ohashi

#include<Wire.h>
#include <Adafruit_NeoPixel.h>
#define PIN 3
//2pixels, pin, RGB bitstream + 800 KHz bitstream
Adafruit_NeoPixel strip = Adafruit_NeoPixel(2, PIN, NEO_RGB + NEO_KHZ800);
const int MPU_addr=0x68;  // I2C address of the MPU-6050
int AcX,AcY;
byte Hue;
int Value;
byte R,G,B;

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);
  pinMode(4, OUTPUT);
  strip.begin();
}
void loop(){
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_addr,4);  // 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)
  Hue=byte((atan2(AcX,AcY)/3.14*180+180)/360*255);
  
  Value=max(abs(AcX),abs(AcY));
  Value=max(Value-3276,0);
  Value=int(Value/13108.0*255);
  
  for(int i=0;i<2;i++){
    strip.setPixelColor(i, HV2RGB(Hue,Value));}
  strip.show();
  delay(100);
}

uint32_t HV2RGB(byte H, byte V) {
  H = 255 - H;
  float C= V/255.0;
  if(H < 85) {
    return strip.Color((255-H*3)*C, 0, H*3*C);}
  if(H < 170) {
    H = H - 85;
    return strip.Color(0, H*3*C, (255-H*3)*C);}
  H = H - 170;
  return strip.Color(H*3*C, (255-H*3)*C, 0);
}

// for 8pino 2017.01.05 Koji Ohashi

#include<Wire.h>

#include <Adafruit_NeoPixel.h>

#define PIN 3

//2pixels, pin, RGB bitstream + 800 KHz bitstream

Adafruit_NeoPixel strip = Adafruit_NeoPixel(2, PIN, NEO_RGB + NEO_KHZ800);

const int MPU_addr=0x68; // I2C address of the MPU-6050

int AcX,AcY;

byte Hue;

int Value;

byte R,G,B;

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);

pinMode(4, OUTPUT);

strip.begin();

}

void loop(){

Wire.beginTransmission(MPU_addr);

Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)

Wire.endTransmission(false);

Wire.requestFrom(MPU_addr,4); // 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)

Hue=byte((atan2(AcX,AcY)/3.14*180+180)/360*255);

Value=max(abs(AcX),abs(AcY));

Value=max(Value-3276,0);

Value=int(Value/13108.0*255);

for(int i=0;i<2;i++){

strip.setPixelColor(i, HV2RGB(Hue,Value));}

strip.show();

delay(100);

}

uint32_t HV2RGB(byte H, byte V) {

H = 255 - H;

float C= V/255.0;

if(H < 85) {

return strip.Color((255-H*3)*C, 0, H*3*C);}

if(H < 170) {

H = H - 85;

return strip.Color(0, H*3*C, (255-H*3)*C);}

H = H - 170;

return strip.Color(H*3*C, (255-H*3)*C, 0);

}

メモリーが小さいのでプログラムもミニマル目指して推敲を重ねました。「最大5,310バイトのフラッシュメモリのうち、スケッチが5,176バイト（97%）を使っています。グローバル変数は69バイトのRAMを使用しています。」

Arduino GPSロガー (Pro Mini 3.3V版)

道路施設の維持管理のために適切な予防保全が必要と言われていますが、人口が減少がしていく中で山間の生活道路の質を維持するために、コストをかけずに客観的な情報を蓄積していけるシステムが望まれているのではないでしょうか？

Arduino GPSロガーは路面のデコボコの振動を加速度センサーにより定量化しGPSによる位置情報とともにSDカードに記録して路面診断用のデータを蓄積するツールです。

使用するパーツ
Arduino Pro Mini 328 3.3V 8MHz(スイッチサイエンス 1,243 円)
あるいは互換機　EasyWordMall Pro Mini モジュール Atmega328 3.3V 8M Arduino用 (EasyWordMall　375円)

GPS受信機キット (秋月電子通商 2200円 )1PPS出力付き

 マイクロSDカードスロットDIP化キット(秋月電子通商 300円)

MPU-6050 使用３軸ジャイロスコープ・３軸加速度センサーモジュール(GY-521)(Umemoto LLC 198円)

動作の概要
電源はIoT機器用モバイルバッテリー cheero Canvas 3200mAhがお勧めです。一般的なモバイルバッテリーでは消費電力が小さすぎて自動的に給電が停止してしまいます。USBケーブルの電源線から5VをPro MiniとGPSモジュールに給電し、Pro Miniから供給される3.3VでSDとGY-521に給電します。
GPSから日付、時刻、緯度、経度、捕捉衛星数を読み取ります。加速度・ジャイロセンサーから約50msec毎に200回データを読み取り、進行方向の加速度の平均値と標準偏差、上下方向の加速度の平均値と標準偏差、左右方向の回転角速度の平均値と最大値と最小値を求めます。
測定の周期はおよそ14秒でしたが、日付から自動生成されるファイル名のファイルmm_dd.txtにカンマ区切りで追記されます。

16.12.31追記
GPSでの時刻はUTC(世界協定時)で出力されるので日本では9時間加算する必要があります。日付の繰り上がりなどを考えると面倒なのでUTCで我慢していましたが、落ち着いて考えると日本時間の9時にファイルの日付が変わるのでそれはそれで面倒です。時差を反映させるTimeというライブラリを見つけましたので、実装しました。

データ表示
オープンソースソフトウェアのQGISを使用して表示します。国土地理院のタイル地図に測定点を表示します。例として振動が大きかったポイントは赤い大きな星印、振動が少なかった地点は小さな丸印で表示しています。
結線
(Arduino Pro Mini 3.3V)
[GPS–Pro Mini]
5V–5V
GND–GND
RXD–NC
TXD–D2

[SD–Pro Mini]
DAT2–NC
DAT3–D10
CMD–D11
VDD–3.3V
CLK–D13
VSS–GND
DAT0–D12
DAT1–NC
SWB–NC
SWA–NC

[GY-521–Pro Mini]
VCC–3.3V
GND–GND
SCL–A5(SCL)
SDA–A4(SDA)
XDA–NC
XCL–NC
ADD–NC
INT–NC

[LED–Pro Mini]
RED LED–D9
GREEN LED–D8

時差対応版

#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;
}

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#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;

}

UTC版

#include <SPI.h>
#include <SD.h>
#include<Wire.h>
#include <SoftwareSerial.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];
int year;
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.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;
}

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#include <SPI.h>

#include <SD.h>

#include<Wire.h>

#include <SoftwareSerial.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];

int year;

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.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(",");