Arduino – ページ 2 – 計測・解析ラボ

ESP32(MH-ET LIVE ESP32 MiniKIT)のタッチセンサー

ESP32には１０本ものタッチセンサーがあります。しかも、インタラプト関数が用意されているので便利に使えそうです。

ESP32の安価でコンパクトなボードを購入したので試しに使ってみようと思います。特にアフィリエイトが得られるわけではありませんが、購入先は下記URLです。

https://ja.aliexpress.com/item/MH-ET-LIVE-D1-mini-ESP32-ESP-32-WiFi-Bluetooth-Internet-of-Things-development-board-based/32816658883.html?spm=a2g0s.9042311.0.0.u50SMy

このボードはLチカ用LEDが付いているのが原因だと思いますが、T2は使えません。また、T8とT9が入れ替わっているようです。

T0–IO04
T1–IO0
T3–TDO
T4–TCK
T5–TDI
T6–TMS
T7–IO27
T8–IO32
T9–IO33

int threshold[9] = {12,12,12,12,12,12,12,12,12,};
bool touchDetected[9] ={false,false,false,false,false,false,false,false,false};
int T[9]={T0,T1,T3,T4,T5,T6,T7,T9,T8};


void gotTouch0(){
  touchDetected[0] = true;
}
void gotTouch1(){
  touchDetected[1] = true;
}
void gotTouch2(){
  touchDetected[2] = true;
}
void gotTouch3(){
  touchDetected[3] = true;
}
void gotTouch4(){
  touchDetected[4] = true;
}
void gotTouch5(){
  touchDetected[5] = true;
}
void gotTouch6(){
  touchDetected[6] = true;
}
void gotTouch7(){
  touchDetected[7] = true;
}
void gotTouch8(){
  touchDetected[8] = true;
}


void setup() {
  Serial.begin(115200);
  delay(1000); // give me time to bring up serial monitor
  Serial.println("TouchInterrupt9");
  touchAttachInterrupt(T[0], gotTouch0, threshold[0]);
  touchAttachInterrupt(T[1], gotTouch1, threshold[1]);
  touchAttachInterrupt(T[2], gotTouch2, threshold[2]);
  touchAttachInterrupt(T[3], gotTouch3, threshold[3]);
  touchAttachInterrupt(T[4], gotTouch4, threshold[4]);
  touchAttachInterrupt(T[5], gotTouch5, threshold[5]);
  touchAttachInterrupt(T[6], gotTouch6, threshold[6]);
  touchAttachInterrupt(T[7], gotTouch7, threshold[7]);
  touchAttachInterrupt(T[8], gotTouch8, threshold[8]);
}

void loop(){
  int value;
  for(int i=0;i<9;i++){
    if(touchDetected[i] && ((value=touchRead(T[i]))<threshold[i])){
      touchDetected[i]=false;
      Serial.print(i);Serial.print(" detected with");
      Serial.println(value);
    }
  }
}

int threshold[9] = {12,12,12,12,12,12,12,12,12,};

bool touchDetected[9] ={false,false,false,false,false,false,false,false,false};

int T[9]={T0,T1,T3,T4,T5,T6,T7,T9,T8};

void gotTouch0(){

touchDetected[0] = true;

}

void gotTouch1(){

touchDetected[1] = true;

}

void gotTouch2(){

touchDetected[2] = true;

}

void gotTouch3(){

touchDetected[3] = true;

}

void gotTouch4(){

touchDetected[4] = true;

}

void gotTouch5(){

touchDetected[5] = true;

}

void gotTouch6(){

touchDetected[6] = true;

}

void gotTouch7(){

touchDetected[7] = true;

}

void gotTouch8(){

touchDetected[8] = true;

}

void setup() {

Serial.begin(115200);

delay(1000); // give me time to bring up serial monitor

Serial.println("TouchInterrupt9");

touchAttachInterrupt(T[0], gotTouch0, threshold[0]);

touchAttachInterrupt(T[1], gotTouch1, threshold[1]);

touchAttachInterrupt(T[2], gotTouch2, threshold[2]);

touchAttachInterrupt(T[3], gotTouch3, threshold[3]);

touchAttachInterrupt(T[4], gotTouch4, threshold[4]);

touchAttachInterrupt(T[5], gotTouch5, threshold[5]);

touchAttachInterrupt(T[6], gotTouch6, threshold[6]);

touchAttachInterrupt(T[7], gotTouch7, threshold[7]);

touchAttachInterrupt(T[8], gotTouch8, threshold[8]);

}

void loop(){

int value;

for(int i=0;i<9;i++){

if(touchDetected[i] && ((value=touchRead(T[i]))<threshold[i])){

touchDetected[i]=false;

Serial.print(i);Serial.print(" detected with");

Serial.println(value);

}

フラットケーブルを使ったら60ぐらいあったタッチセンサーの出力が20ぐらいまで低下して、検知できるギリギリですがなんとか使えています。

(18.02.11)

ヤマハFM音源LSI YMF825搭載モジュールのデモプログラム

Arduino UNO互換機でYMF825を動作させてみました。

複数の音色パラメータから音色データを生成して、西洋音階で和音を鳴らします。ヘッドフォンアンプが付いていますが、スピーカーにつないでいます。

購入先はスイッチサイエンスです。
https://www.switch-science.com/catalog/3399/

音の雰囲気が伝わるように動画を作りました。
https://www.facebook.com/koji.ohashi.12/videos/1635981226477849/

音色パラメータが4種類入っているのでプログラムが長くなっていますが、実際に使えるものを作ろうとするとこのぐらいの機能は必要になるのでまとめてみました。

lineNo.304-307にバグがありましたので修正しました。(180213)

//Based on ymf825board_sample1
// 音色データの追加と和音演奏
// 音色パラメータによる音色データの生成
// 西洋音階での演奏

/*
 Conditions only for Arduino UNO
   RST_N- Pin9   
   SS   - Pin10
   MOSI - Pin11
   MISO - Pin12
   SCK  - Pin13
 */
#include <SPI.h>
//0 :5V 1:3.3V
#define OUTPUT_power 0

const int RST_Pin = 9;
const int slaveSelectPin = 10;

//西洋音階
int noteFnum[12]={357,378,401,425,450,477,505,535,567,601,637,674};//ピアノの白鍵黒鍵
int wholeStep[7]={0,2,4,5,7,9,11};//ドレミファソラシ

//音色パラメーター(Yamahaの音色設計から抽出)
int const TONES=4;
//GrandPiano,TenorSax,NewAgePd,PickBass
byte BO[TONES]=   {0x01,0x00,0x00,0x00};//0-3
byte LFO[TONES]=  {0x01,0x01,0x01,0x01};//0-3
byte ALG[TONES]=  {0x03,0x05,0x05,0x03};//0-7
  
byte SR[TONES][4]={ {0x00,0x02,0x01,0x02},
                    {0x00,0x00,0x00,0x00},
                    {0x03,0x04,0x00,0x00},
                    {0x02,0x04,0x02,0x06}};//0-7
            
byte XOF[TONES][4]={  {0x00,0x00,0x00,0x00},
                      {0x00,0x00,0x00,0x00},
                      {0x00,0x00,0x00,0x00},
                      {0x00,0x00,0x00,0x00}};//0-1
            
byte KSR[TONES][4]={  {0x00,0x01,0x00,0x01},
                      {0x01,0x00,0x01,0x00},
                      {0x01,0x00,0x00,0x00},
                      {0x01,0x01,0x01,0x01}};//0-1
            
byte RR[TONES][4]={   {0x06,0x03,0x04,0x06},
                      {0x00,0x09,0x00,0x09},
                      {0x00,0x09,0x00,0x09},
                      {0x03,0x06,0x06,0x08}};//0-15
            
byte DR[TONES][4]={ {0x07,0x03,0x01,0x02},
                    {0x03,0x02,0x03,0x02},
                    {0x0F,0x07,0x01,0x01},
                    {0x07,0x0b,0x09,0x02}};//0-15
            
byte AR[TONES][4]={ {0x0F,0x0E,0x0D,0x0D},
                    {0x07,0x07,0x07,0x07},
                    {0x0F,0x0F,0x06,0x08},
                    {0x0f,0x0c,0x0f,0x0b}};//0-15
            
byte SL[TONES][4]={ {0x0f,0x02,0x03,0x04},
                    {0x00,0x00,0x00,0x00},
                    {0x00,0x00,0x00,0x01},
                    {0x01,0x07,0x02,0x06}};//0-15
            
byte TL[TONES][4]={ {0x27,0x28,0x22,0x00},
                    {0x05,0x0f,0x08,0x0d},
                    {0x26,0x0b,0x18,0x00},
                    {0x13,0x15,0x17,0x00}};//0-63
            
byte KSL[TONES][4]={  {0x01,0x03,0x00,0x02},
                      {0x02,0x00,0x02,0x02},
                      {0x00,0x02,0x02,0x02},
                      {0x02,0x00,0x02,0x00}};//0-3
            
byte DAM[TONES][4]={  {0x00,0x00,0x00,0x00},
                      {0x02,0x02,0x02,0x02},
                      {0x02,0x02,0x00,0x00},
                      {0x02,0x02,0x02,0x02}};//0-3
byte EAM[TONES][4]={  {0x00,0x00,0x00,0x00},
                      {0x00,0x00,0x00,0x00},
                      {0x00,0x00,0x00,0x00},
                      {0x00,0x00,0x00,0x00}};//0-1
            
byte DVB[TONES][4]={  {0x00,0x00,0x00,0x00},
                      {0x02,0x01,0x02,0x01},
                      {0x02,0x02,0x01,0x01},
                      {0x02,0x02,0x02,0x02}};//0-3
            
byte EVB[TONES][4]={  {0x00,0x00,0x01,0x01},
                      {0x00,0x01,0x00,0x01},
                      {0x00,0x00,0x01,0x01},
                      {0x00,0x00,0x01,0x01}};//0-1
            
byte MULTI[TONES][4]={  {0x01,0x05,0x01,0x01},
                        {0x01,0x01,0x01,0x01},
                        {0x07,0x05,0x01,0x01},
                        {0x01,0x07,0x02,0x01}};//0-15
              
byte DT[TONES][4]={ {0x00,0x00,0x00,0x00},
                    {0x00,0x00,0x00,0x00},
                    {0x00,0x00,0x07,0x00},
                    {0x00,0x00,0x00,0x00}};//0-7
            
byte WS[TONES][4]={ {0x08,0x00,0x00,0x00},
                    {0x01,0x08,0x09,0x00},
                    {0x01,0x00,0x01,0x00},
                    {0x00,0x00,0x00,0x00}};//0-31
            
byte FB[TONES][4]={ {0x00,0x00,0x00,0x00},
                    {0x03,0x00,0x03,0x00},
                    {0x05,0x00,0x06,0x00},
                    {0x05,0x00,0x00,0x00}};//0-7




void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  Serial.println("ymf825_demo180213");
  pinMode(RST_Pin,OUTPUT);
  pinMode(slaveSelectPin,OUTPUT);
  digitalWrite(slaveSelectPin, HIGH);
 
  SPI.setBitOrder(MSBFIRST);
  SPI.setClockDivider(SPI_CLOCK_DIV8);
  SPI.setDataMode(SPI_MODE0);
  SPI.begin();
  init_825();
  set_tone();
  set_ch();
  
}

void loop() {
  for(int t=0;t<4;t++){
    for(int i=0;i<3;i++){
      midiNote(t, 0, 24);
      midiNote(t, 1, 28);
      midiNote(t, 2, 31);
      delay(200);
      keyoffVn(0);
      keyoffVn(1);
      keyoffVn(2);
      delay(10);
    }
    for(int i=0;i<3;i++){
      midiNote(t, 0, 31);
      midiNote(t, 1, 36);
      midiNote(t, 2, 40);
      delay(400);
      keyoffVn(0);
      keyoffVn(1);
      keyoffVn(2);
      delay(10);
    }
    for(int i=0;i<3;i++){
      midiNote(t, 0, 40);
      midiNote(t, 1, 43);
      midiNote(t, 2, 48);
      delay(200);
      keyoffVn(0);
      keyoffVn(1);
      keyoffVn(2);
      delay(10);
    }
    delay(0);
    for(int i=1;i<8;i++){
      for(int j=0;j<7;j++){
        int note0=i*12 + wholeStep[j];
        int note1=(7-i)*12+wholeStep[(6-j)];
        midiNote(t, 0, note0);
        midiNote(t, 1, note1);
        delay(200);
        keyoffVn(0);
        keyoffVn(1);
        delay(10);
      }
    }
    for(int i=7;i>=1;i--){
      for(int j=6;j>=0;j--){
        int note=i*12 + wholeStep[j];
        midiNote(t, 0, note);
        delay(200);
        keyoffVn(0);
        delay(10);
      }
    }
    delay(2000);
  }
}


void midiNote(int tnum, int voice, int note){
  int fnum=noteFnum[note%12];
  byte block=(byte)note/12;
  byte fnumh=((0x380 & fnum)>>4)|block;  //(0,0,f9,f8,f7,b2,b1,b0)
  byte fnuml=0x7f&fnum;                  //(0,f6,f5,f4,f3,f2,f1,f0)
  keyonVn(tnum,voice,fnumh,fnuml);
}


void init_825(void) {
   digitalWrite(RST_Pin, LOW);
   delay(1);
   digitalWrite(RST_Pin, HIGH);
   if_s_write( 0x1D, OUTPUT_power );
   if_s_write( 0x02, 0x0E );
   delay(1);
   if_s_write( 0x00, 0x01 );//CLKEN
   if_s_write( 0x01, 0x00 ); //AKRST
   if_s_write( 0x1A, 0xA3 );
   delay(1);
   if_s_write( 0x1A, 0x00 );
   delay(30);
   if_s_write( 0x02, 0x04 );//AP1,AP3
   delay(1);
   if_s_write( 0x02, 0x00 );
   //add
   if_s_write( 0x19, 0xF0 );//MASTER VOL
   if_s_write( 0x1B, 0x3F );//interpolation
   if_s_write( 0x14, 0x00 );//interpolation
   if_s_write( 0x03, 0x01 );//Analog Gain
   
   if_s_write( 0x08, 0xF6 );
   delay(21);
   if_s_write( 0x08, 0x00 );
   if_s_write( 0x09, 0xF8 );
   if_s_write( 0x0A, 0x00 );
   
   if_s_write( 0x17, 0x40 );//MS_S
   if_s_write( 0x18, 0x00 );
}

void set_ch(void){
   if_s_write( 0x0F, 0x30 );// keyon = 0
   if_s_write( 0x10, 0x71 );// chvol
   if_s_write( 0x11, 0x00 );// XVB
   if_s_write( 0x12, 0x08 );// FRAC
   if_s_write( 0x13, 0x00 );// FRAC  
}

void keyonVn(unsigned char tnum, unsigned char voice, unsigned char fnumh, unsigned char fnuml){
  byte keyTone=0x40|(tnum&0x0f);
   if_s_write( 0x0B, voice );//voice num
   if_s_write( 0x0C, 0x54 );//vovol
   if_s_write( 0x0D, fnumh );//fnum
   if_s_write( 0x0E, fnuml );//fnum
   if_s_write( 0x0F, keyTone );//keyon = 1  
}

void keyoffVn(unsigned char voice){
  if_s_write( 0x0B, voice );//voice num
  if_s_write( 0x0F, 0x00 );//keyon = 0
}

void set_tone(){
  int const COUNT=TONES*30+5;
  byte tone_data[COUNT];
  tone_data[0]=0x80+TONES;//Header
  
  for(int i=0;i<TONES;i++){
    tone_data[1+i*30]=BO[i] & 0x03;
    tone_data[2+i*30]=(LFO[i]<<6)|(ALG[i]&0x07);
    
    tone_data[3+i*30]=(SR[i][0]<<4)|(XOF[i][0]<<3)|KSR[i][0];
    tone_data[10+i*30]=(SR[i][1]<<4)|(XOF[i][1]<<3)|KSR[i][1];
    tone_data[17+i*30]=(SR[i][2]<<4)|(XOF[i][2]<<3)|KSR[i][2];
    tone_data[24+i*30]=(SR[i][3]<<4)|(XOF[i][3]<<3)|KSR[i][3];
    
    tone_data[4+i*30]=(RR[i][0]<<4)|DR[i][0];
    tone_data[11+i*30]=(RR[i][1]<<4)|DR[i][1];
    tone_data[18+i*30]=(RR[i][2]<<4)|DR[i][2];
    tone_data[25+i*30]=(RR[i][3]<<4)|DR[i][3];
    
    tone_data[5+i*30]=(AR[i][0]<<4)|SL[i][0];
    tone_data[12+i*30]=(AR[i][1]<<4)|SL[i][1];
    tone_data[19+i*30]=(AR[i][2]<<4)|SL[i][2];
    tone_data[26+i*30]=(AR[i][3]<<4)|SL[i][3];
    
    tone_data[6+i*30]=(TL[i][0]<<2)|KSL[i][0];
    tone_data[13+i*30]=(TL[i][1]<<2)|KSL[i][1];
    tone_data[20+i*30]=(TL[i][2]<<2)|KSL[i][2];
    tone_data[27+i*30]=(TL[i][3]<<2)|KSL[i][3];
    
    tone_data[7+i*30]=(DAM[i][0]<<5)|(EAM[i][0]<<4)|(DVB[i][0]<<1)|EVB[i][0];
    tone_data[14+i*30]=(DAM[i][1]<<5)|(EAM[i][1]<<4)|(DVB[i][1]<<1)|EVB[i][1];
    tone_data[21+i*30]=(DAM[i][2]<<5)|(EAM[i][2]<<4)|(DVB[i][2]<<1)|EVB[i][2];
    tone_data[28+i*30]=(DAM[i][3]<<5)|(EAM[i][3]<<4)|(DVB[i][3]<<1)|EVB[i][3];
    
    tone_data[8+i*30]=(MULTI[i][0]<<4)|DT[i][0];
    tone_data[15+i*30]=(MULTI[i][1]<<4)|DT[i][1];
    tone_data[22+i*30]=(MULTI[i][2]<<4)|DT[i][2];
    tone_data[29+i*30]=(MULTI[i][3]<<4)|DT[i][3];
    
    tone_data[9+i*30]=(WS[i][0]<<3)|FB[i][0];
    tone_data[16+i*30]=(WS[i][1]<<3)|FB[i][1];
    tone_data[23+i*30]=(WS[i][2]<<3)|FB[i][2];
    tone_data[30+i*30]=(WS[i][3]<<3)|FB[i][3];
  }
  //modified at 180213
  tone_data[1+TONES*30]=0x80;//Footer
  tone_data[2+TONES*30]=0x03;
  tone_data[3+TONES*30]=0x81;
  tone_data[4+TONES*30]=0x80;

  if_s_write( 0x08, 0xF6 );
   delay(1);
  if_s_write( 0x08, 0x00 );
  if_write( 0x07, &tone_data[0], TONES*30+5 );//write to FIFO
}

void if_write(char addr,unsigned char* data,char num){
  char i;
  char snd;
    digitalWrite(slaveSelectPin, LOW);
    SPI.transfer(addr);
    for(i=0;i<num;i++){
      SPI.transfer(data[i]);    
    }
    digitalWrite(slaveSelectPin, HIGH);  
}

void if_s_write(char addr,unsigned char data){
  if_write(addr,&data,1);
}

unsigned char if_s_read(char addr){
    unsigned char rcv;
    digitalWrite(slaveSelectPin, LOW);    
    SPI.transfer(0x80|addr);
    rcv = SPI.transfer(0x00);
    digitalWrite(slaveSelectPin, HIGH);  
    return rcv;  
}

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//Based on ymf825board_sample1

// 音色データの追加と和音演奏

// 音色パラメータによる音色データの生成

// 西洋音階での演奏

Conditions only for Arduino UNO

RST_N- Pin9

SS - Pin10

MOSI - Pin11

MISO - Pin12

SCK - Pin13

#include <SPI.h>

//0 :5V 1:3.3V

#define OUTPUT_power 0

const int RST_Pin = 9;

const int slaveSelectPin = 10;

//西洋音階

int noteFnum[12]={357,378,401,425,450,477,505,535,567,601,637,674};//ピアノの白鍵黒鍵

int wholeStep[7]={0,2,4,5,7,9,11};//ドレミファソラシ

//音色パラメーター(Yamahaの音色設計から抽出)

int const TONES=4;

//GrandPiano,TenorSax,NewAgePd,PickBass

byte BO[TONES]= {0x01,0x00,0x00,0x00};//0-3

byte LFO[TONES]= {0x01,0x01,0x01,0x01};//0-3

byte ALG[TONES]= {0x03,0x05,0x05,0x03};//0-7

byte SR[TONES][4]={ {0x00,0x02,0x01,0x02},

{0x00,0x00,0x00,0x00},

{0x03,0x04,0x00,0x00},

{0x02,0x04,0x02,0x06}};//0-7

byte XOF[TONES][4]={ {0x00,0x00,0x00,0x00},

{0x00,0x00,0x00,0x00},

{0x00,0x00,0x00,0x00}};//0-1

byte KSR[TONES][4]={ {0x00,0x01,0x00,0x01},

{0x01,0x00,0x01,0x00},

{0x01,0x00,0x00,0x00},

{0x01,0x01,0x01,0x01}};//0-1

byte RR[TONES][4]={ {0x06,0x03,0x04,0x06},

{0x00,0x09,0x00,0x09},

{0x03,0x06,0x06,0x08}};//0-15

byte DR[TONES][4]={ {0x07,0x03,0x01,0x02},

{0x03,0x02,0x03,0x02},

{0x0F,0x07,0x01,0x01},

{0x07,0x0b,0x09,0x02}};//0-15

byte AR[TONES][4]={ {0x0F,0x0E,0x0D,0x0D},

{0x07,0x07,0x07,0x07},

{0x0F,0x0F,0x06,0x08},

{0x0f,0x0c,0x0f,0x0b}};//0-15

byte SL[TONES][4]={ {0x0f,0x02,0x03,0x04},

{0x00,0x00,0x00,0x00},

{0x00,0x00,0x00,0x01},

{0x01,0x07,0x02,0x06}};//0-15

byte TL[TONES][4]={ {0x27,0x28,0x22,0x00},

{0x05,0x0f,0x08,0x0d},

{0x26,0x0b,0x18,0x00},

{0x13,0x15,0x17,0x00}};//0-63

byte KSL[TONES][4]={ {0x01,0x03,0x00,0x02},

{0x02,0x00,0x02,0x02},

{0x00,0x02,0x02,0x02},

{0x02,0x00,0x02,0x00}};//0-3

byte DAM[TONES][4]={ {0x00,0x00,0x00,0x00},

{0x02,0x02,0x02,0x02},

{0x02,0x02,0x00,0x00},

{0x02,0x02,0x02,0x02}};//0-3

byte EAM[TONES][4]={ {0x00,0x00,0x00,0x00},

{0x00,0x00,0x00,0x00},

{0x00,0x00,0x00,0x00}};//0-1

byte DVB[TONES][4]={ {0x00,0x00,0x00,0x00},

{0x02,0x01,0x02,0x01},

{0x02,0x02,0x01,0x01},

{0x02,0x02,0x02,0x02}};//0-3

byte EVB[TONES][4]={ {0x00,0x00,0x01,0x01},

{0x00,0x01,0x00,0x01},

{0x00,0x00,0x01,0x01},

{0x00,0x00,0x01,0x01}};//0-1

byte MULTI[TONES][4]={ {0x01,0x05,0x01,0x01},

{0x01,0x01,0x01,0x01},

{0x07,0x05,0x01,0x01},

{0x01,0x07,0x02,0x01}};//0-15

byte DT[TONES][4]={ {0x00,0x00,0x00,0x00},

{0x00,0x00,0x00,0x00},

{0x00,0x00,0x07,0x00},

{0x00,0x00,0x00,0x00}};//0-7

byte WS[TONES][4]={ {0x08,0x00,0x00,0x00},

{0x01,0x08,0x09,0x00},

{0x01,0x00,0x01,0x00},

{0x00,0x00,0x00,0x00}};//0-31

byte FB[TONES][4]={ {0x00,0x00,0x00,0x00},

{0x03,0x00,0x03,0x00},

{0x05,0x00,0x06,0x00},

{0x05,0x00,0x00,0x00}};//0-7

void setup() {

// put your setup code here, to run once:

Serial.begin(9600);

Serial.println("ymf825_demo180213");

pinMode(RST_Pin,OUTPUT);

pinMode(slaveSelectPin,OUTPUT);

digitalWrite(slaveSelectPin, HIGH);

SPI.setBitOrder(MSBFIRST);

SPI.setClockDivider(SPI_CLOCK_DIV8);

SPI.setDataMode(SPI_MODE0);

SPI.begin();

init_825();

set_tone();

set_ch();

}

void loop() {

for(int t=0;t<4;t++){

for(int i=0;i<3;i++){

midiNote(t, 0, 24);

midiNote(t, 1, 28);

midiNote(t, 2, 31);

delay(200);

keyoffVn(0);

keyoffVn(1);

keyoffVn(2);

delay(10);

}

for(int i=0;i<3;i++){

midiNote(t, 0, 31);

midiNote(t, 1, 36);

midiNote(t, 2, 40);

delay(400);

keyoffVn(0);

keyoffVn(1);

keyoffVn(2);

delay(10);

}

for(int i=0;i<3;i++){

midiNote(t, 0, 40);

midiNote(t, 1, 43);

midiNote(t, 2, 48);

delay(200);

keyoffVn(0);

keyoffVn(1);

keyoffVn(2);

delay(10);

}

delay(0);

for(int i=1;i<8;i++){

for(int j=0;j<7;j++){

int note0=i*12 + wholeStep[j];

int note1=(7-i)*12+wholeStep[(6-j)];

midiNote(t, 0, note0);

midiNote(t, 1, note1);

delay(200);

keyoffVn(0);

keyoffVn(1);

delay(10);

}

for(int i=7;i>=1;i--){

for(int j=6;j>=0;j--){

int note=i*12 + wholeStep[j];

midiNote(t, 0, note);

delay(200);

keyoffVn(0);

delay(10);

}

delay(2000);

}

void midiNote(int tnum, int voice, int note){

int fnum=noteFnum[note%12];

byte block=(byte)note/12;

byte fnumh=((0x380 & fnum)>>4)|block; //(0,0,f9,f8,f7,b2,b1,b0)

byte fnuml=0x7f&fnum; //(0,f6,f5,f4,f3,f2,f1,f0)

keyonVn(tnum,voice,fnumh,fnuml);

}

void init_825(void) {

digitalWrite(RST_Pin, LOW);

delay(1);

digitalWrite(RST_Pin, HIGH);

if_s_write( 0x1D, OUTPUT_power );

if_s_write( 0x02, 0x0E );

delay(1);

if_s_write( 0x00, 0x01 );//CLKEN

if_s_write( 0x01, 0x00 ); //AKRST

if_s_write( 0x1A, 0xA3 );

delay(1);

if_s_write( 0x1A, 0x00 );

delay(30);

if_s_write( 0x02, 0x04 );//AP1,AP3

delay(1);

if_s_write( 0x02, 0x00 );

//add

if_s_write( 0x19, 0xF0 );//MASTER VOL

if_s_write( 0x1B, 0x3F );//interpolation

if_s_write( 0x14, 0x00 );//interpolation

if_s_write( 0x03, 0x01 );//Analog Gain

if_s_write( 0x08, 0xF6 );

delay(21);

if_s_write( 0x08, 0x00 );

if_s_write( 0x09, 0xF8 );

if_s_write( 0x0A, 0x00 );

if_s_write( 0x17, 0x40 );//MS_S

if_s_write( 0x18, 0x00 );

}

void set_ch(void){

if_s_write( 0x0F, 0x30 );// keyon = 0

if_s_write( 0x10, 0x71 );// chvol

if_s_write( 0x11, 0x00 );// XVB

if_s_write( 0x12, 0x08 );// FRAC

if_s_write( 0x13, 0x00 );// FRAC

}

void keyonVn(unsigned char tnum, unsigned char voice, unsigned char fnumh, unsigned char fnuml){

byte keyTone=0x40|(tnum&0x0f);

if_s_write( 0x0B, voice );//voice num

if_s_write( 0x0C, 0x54 );//vovol

if_s_write( 0x0D, fnumh );//fnum

if_s_write( 0x0E, fnuml );//fnum

if_s_write( 0x0F, keyTone );//keyon = 1

}

void keyoffVn(unsigned char voice){

if_s_write( 0x0B, voice );//voice num

if_s_write( 0x0F, 0x00 );//keyon = 0

}

void set_tone(){

int const COUNT=TONES*30+5;

byte tone_data[COUNT];

tone_data[0]=0x80+TONES;//Header

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

tone_data[1+i*30]=BO[i] & 0x03;

tone_data[2+i*30]=(LFO[i]<<6)|(ALG[i]&0x07);

tone_data[3+i*30]=(SR[i][0]<<4)|(XOF[i][0]<<3)|KSR[i][0];

tone_data[10+i*30]=(SR[i][1]<<4)|(XOF[i][1]<<3)|KSR[i][1];

tone_data[17+i*30]=(SR[i][2]<<4)|(XOF[i][2]<<3)|KSR[i][2];

tone_data[24+i*30]=(SR[i][3]<<4)|(XOF[i][3]<<3)|KSR[i][3];

tone_data[4+i*30]=(RR[i][0]<<4)|DR[i][0];

tone_data[11+i*30]=(RR[i][1]<<4)|DR[i][1];

tone_data[18+i*30]=(RR[i][2]<<4)|DR[i][2];

tone_data[25+i*30]=(RR[i][3]<<4)|DR[i][3];

tone_data[5+i*30]=(AR[i][0]<<4)|SL[i][0];

tone_data[12+i*30]=(AR[i][1]<<4)|SL[i][1];

tone_data[19+i*30]=(AR[i][2]<<4)|SL[i][2];

tone_data[26+i*30]=(AR[i][3]<<4)|SL[i][3];

tone_data[6+i*30]=(TL[i][0]<<2)|KSL[i][0];

tone_data[13+i*30]=(TL[i][1]<<2)|KSL[i][1];

tone_data[20+i*30]=(TL[i][2]<<2)|KSL[i][2];

tone_data[27+i*30]=(TL[i][3]<<2)|KSL[i][3];

tone_data[7+i*30]=(DAM[i][0]<<5)|(EAM[i][0]<<4)|(DVB[i][0]<<1)|EVB[i][0];

tone_data[14+i*30]=(DAM[i][1]<<5)|(EAM[i][1]<<4)|(DVB[i][1]<<1)|EVB[i][1];

tone_data[21+i*30]=(DAM[i][2]<<5)|(EAM[i][2]<<4)|(DVB[i][2]<<1)|EVB[i][2];

tone_data[28+i*30]=(DAM[i][3]<<5)|(EAM[i][3]<<4)|(DVB[i][3]<<1)|EVB[i][3];

tone_data[8+i*30]=(MULTI[i][0]<<4)|DT[i][0];

tone_data[15+i*30]=(MULTI[i][1]<<4)|DT[i][1];

tone_data[22+i*30]=(MULTI[i][2]<<4)|DT[i][2];

tone_data[29+i*30]=(MULTI[i][3]<<4)|DT[i][3];

tone_data[9+i*30]=(WS[i][0]<<3)|FB[i][0];

tone_data[16+i*30]=(WS[i][1]<<3)|FB[i][1];

tone_data[23+i*30]=(WS[i][2]<<3)|FB[i][2];

tone_data[30+i*30]=(WS[i][3]<<3)|FB[i][3];

}

//modified at 180213

tone_data[1+TONES*30]=0x80;//Footer

tone_data[2+TONES*30]=0x03;

tone_data[3+TONES*30]=0x81;

tone_data[4+TONES*30]=0x80;

if_s_write( 0x08, 0xF6 );

delay(1);

if_s_write( 0x08, 0x00 );

if_write( 0x07, &tone_data[0], TONES*30+5 );//write to FIFO

}

void if_write(char addr,unsigned char* data,char num){

char i;

char snd;

digitalWrite(slaveSelectPin, LOW);

SPI.transfer(addr);

for(i=0;i<num;i++){

SPI.transfer(data[i]);

}

digitalWrite(slaveSelectPin, HIGH);

}

void if_s_write(char addr,unsigned char data){

if_write(addr,&data,1);

}

unsigned char if_s_read(char addr){

unsigned char rcv;

digitalWrite(slaveSelectPin, LOW);

SPI.transfer(0x80|addr);

rcv = SPI.transfer(0x00);

digitalWrite(slaveSelectPin, HIGH);

return rcv;

}

(18.02.09)

参考にさせてもらったサイト

https://kanpapa.com/today/2017/08/ymf825-fm-board.html

https://sites.google.com/site/himagine201206/home/arduino/ymf825/030

NeoPixelのDemo

ArduinoのNeoPixelライブラリのサンプルは参考になりますが、盛りだくさん過ぎて分かりにくい印象があります。

シンプルでカラフルに書いてみました。

#include <Adafruit_NeoPixel.h>


#define PIN 2
#define NUMPIXELS 14
Adafruit_NeoPixel led = Adafruit_NeoPixel(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);

void setup() {
  Serial.begin(9600);
  Serial.println("colorSweepTwisted");
  led.begin();
  led.show();
}

void loop() {
  for(int hue=0;hue<360;hue++){
    for(int j=0;j<NUMPIXELS;j++){
      float tw=360.0/NUMPIXELS*j;
      led.setPixelColor(j, hsv2rgb(hue+tw, 1.0, 0.2));
    }
    led.show();
    delay(5);
  }
}

int within(int p,int R){
  int res=p%R;
  if(res<0){
    res=res+R;
  }
  return res;
}

//Based on https://github.com/ratkins/RGBConverter/blob/master/RGBConverter.cpp
//h(0-360),s(0.0-1.0),v(0.0-1.0)
uint32_t hsv2rgb(float h, float s, float v) {
    float r, g, b;
    h=within(h,360);
    h=h/360;

    int i = int(h * 6);
    float f = h * 6 - i;
    float p = v * (1 - s);
    float q = v * (1 - f * s);
    float t = v * (1 - (1 - f) * s);

    switch(i % 6){
        case 0: r = v, g = t, b = p; break;
        case 1: r = q, g = v, b = p; break;
        case 2: r = p, g = v, b = t; break;
        case 3: r = p, g = q, b = v; break;
        case 4: r = t, g = p, b = v; break;
        case 5: r = v, g = p, b = q; break;
    }
    r=int(r*255),g=int(g*255),b=int(b*255);
    return led.Color(r, g, b);
}

#include <Adafruit_NeoPixel.h>

#define PIN 2

#define NUMPIXELS 14

Adafruit_NeoPixel led = Adafruit_NeoPixel(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);

void setup() {

Serial.begin(9600);

Serial.println("colorSweepTwisted");

led.begin();

led.show();

}

void loop() {

for(int hue=0;hue<360;hue++){

for(int j=0;j<NUMPIXELS;j++){

float tw=360.0/NUMPIXELS*j;

led.setPixelColor(j, hsv2rgb(hue+tw, 1.0, 0.2));

}

led.show();

delay(5);

}

int within(int p,int R){

int res=p%R;

if(res<0){

res=res+R;

}

return res;

}

//Based on https://github.com/ratkins/RGBConverter/blob/master/RGBConverter.cpp

//h(0-360),s(0.0-1.0),v(0.0-1.0)

uint32_t hsv2rgb(float h, float s, float v) {

float r, g, b;

h=within(h,360);

h=h/360;

int i = int(h * 6);

float f = h * 6 - i;

float p = v * (1 - s);

float q = v * (1 - f * s);

float t = v * (1 - (1 - f) * s);

switch(i % 6){

case 0: r = v, g = t, b = p; break;

case 1: r = q, g = v, b = p; break;

case 2: r = p, g = v, b = t; break;

case 3: r = p, g = q, b = v; break;

case 4: r = t, g = p, b = v; break;

case 5: r = v, g = p, b = q; break;

}

r=int(r*255),g=int(g*255),b=int(b*255);

return led.Color(r, g, b);

}

ついでに、「グルグル巻けば円筒ディスプレイ」用のDemoプログラムも紹介します。10mmピッチのLEDを200個φ60mm(よりも少し太い)のボトルに巻きつけました。一周21個で縦に9個の(狙いは20個✖️10個でしたが、)円筒ディスプレイです。

#include <Adafruit_NeoPixel.h>
#define PIN 2
#define NUMPIXELS 200
#define WNUM 21
#define HNUM 9

Adafruit_NeoPixel led = Adafruit_NeoPixel(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);

void setup() {
  Serial.begin(9600);
  Serial.println("ColorCylinder");
  led.begin();
  led.show(); // Initialize all pixels to 'off'
}

void loop() {
  test1to100(hsv2rgb(45, 1, 0.1));
  
  movingPoints(150);
  
  for(int i=0;i<6;i++){
    testH_line(hsv2rgb(15+i*60, 1, 0.1));
  }
  
  for(int i=0;i<6;i++){
    testV_line(hsv2rgb(30+i*60, 1, 0.1));
  }

  testColor();
  
  for(int i=0;i<3;i++){
    SevenColorRings();
  }
}

//function

void test1to100(uint32_t c){
  for(int i; i<NUMPIXELS;i++){
    baseColor(led.Color(0, 5, 0));
    for(int j=0;j<10;j++){
      led.setPixelColor(i+j, hsv2rgb(180, 1, 0.1));
    }
    led.setPixelColor(i, hsv2rgb(180, 1, 0.1));
    led.show();
    delay(10);
  }
}

void movingPoints(int rpt){
  int x=0;
  int y=0;
  int pNUM=8;
  int xt,yt,p,points[pNUM][2];
  for(int i=0;i<rpt;i++){
    boolean TRY=true;
    int count=0;
    while(TRY && count<10){
      xt=x;
      yt=y;
      int r=random(0,4);
      switch(r){
        case 0:xt=xt-1;break;
        case 1:xt=xt+1;break;
        case 2:yt=yt-1;break;
        case 3:yt=yt+1;break;
        default:break;
      }
      xt=within(xt,WNUM);
      yt=within(yt,HNUM);
      int s=0;
      TRY=false;
      while(s<pNUM){
        if(points[s][0]==xt && points[s][1]==yt){
          TRY=true;
          s=pNUM;
        }
        s++;
      }
      count++;
    }
    x=xt;
    y=yt;
    p=i%pNUM;
    points[p][0]=x;
    points[p][1]=y;
    baseColor(led.Color(0, 5, 0));
    for(int j=0;j<pNUM;j++){
      led.setPixelColor(points[j][1]*WNUM+points[j][0], led.Color(5, 0, 0));
      led.setPixelColor(points[j][1]*WNUM+within((points[j][0]+10),WNUM), led.Color(0, 0, 5));
    }
    led.show();
    delay(50);
  }
}

void testH_line(uint32_t c){
  for(int i=0;i<HNUM;i++){
    baseColor(led.Color(0, 5, 0));
    for(int j=0;j<WNUM;j++){
      led.setPixelColor(j+(i*WNUM), c);
    }
    led.show();
    delay(50);
  }
}

void testV_line(uint32_t c){
  for(int i=0;i<WNUM;i++){
    baseColor(led.Color(0, 5, 0));
    for(int j=0;j<HNUM;j++){
      led.setPixelColor(i+(j*WNUM), c);
    }
    led.show();
    delay(25);
  }
}


void testColor(){
  for(int i=0;i<360;i++){
    baseColor(hsv2rgb(i,1,0.05));
    led.show();
    delay(20);
  }
}


void SevenColorRings(){
  //uint32_t SvnC[]={Wheel(0,0.1),Wheel(60,0.1),Wheel(120,0.1),Wheel(180,0.1),Wheel(240,0.1),Wheel(300,0.1)};
  uint32_t SvnC[]={hsv2rgb(0,1,0.1),hsv2rgb(60,1,0.1),hsv2rgb(120,1,0.1),hsv2rgb(180,1,0.1),hsv2rgb(240,1,0.1),hsv2rgb(300,1,0.1),hsv2rgb(300,0,0.1)};
  for(int i=0;i<7;i++){
    for(int j=0;j<HNUM;j++){
      setColorRing(j, SvnC[(i+j)%7]);
    }
    led.show();
    delay(200);
  }
  
  
}

void setColorRing(int hpos, uint32_t c){
  hpos=within(hpos,HNUM);
  for(int i=0;i<WNUM;i++){
    led.setPixelColor(i+(hpos*WNUM), c);
  }
}


int within(int p,int R){
  int res=p%R;
  if(res<0){
    res=res+R;
  }
  return res;
}

void baseColor(uint32_t c){
  for(int i=0;i<NUMPIXELS;i++){
    led.setPixelColor(i,c);
  }
}

//Based on https://github.com/ratkins/RGBConverter/blob/master/RGBConverter.cpp
//h(0-360),s(0.0-1.0),v(0.0-1.0)
uint32_t hsv2rgb(float h, float s, float v) {
    float r, g, b;
    h=within(h,360);
    h=h/360;

    int i = int(h * 6);
    float f = h * 6 - i;
    float p = v * (1 - s);
    float q = v * (1 - f * s);
    float t = v * (1 - (1 - f) * s);

    switch(i % 6){
        case 0: r = v, g = t, b = p; break;
        case 1: r = q, g = v, b = p; break;
        case 2: r = p, g = v, b = t; break;
        case 3: r = p, g = q, b = v; break;
        case 4: r = t, g = p, b = v; break;
        case 5: r = v, g = p, b = q; break;
    }
    r=int(r*255),g=int(g*255),b=int(b*255);
    return led.Color(r, g, b);
}

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#include <Adafruit_NeoPixel.h>

#define PIN 2

#define NUMPIXELS 200

#define WNUM 21

#define HNUM 9

Adafruit_NeoPixel led = Adafruit_NeoPixel(NUMPIXELS, PIN, NEO_GRB + NEO_KHZ800);

void setup() {

Serial.begin(9600);

Serial.println("ColorCylinder");

led.begin();

led.show(); // Initialize all pixels to 'off'

}

void loop() {

test1to100(hsv2rgb(45, 1, 0.1));

movingPoints(150);

for(int i=0;i<6;i++){

testH_line(hsv2rgb(15+i*60, 1, 0.1));

}

for(int i=0;i<6;i++){

testV_line(hsv2rgb(30+i*60, 1, 0.1));

}

testColor();

for(int i=0;i<3;i++){

SevenColorRings();

}

//function

void test1to100(uint32_t c){

for(int i; i<NUMPIXELS;i++){

baseColor(led.Color(0, 5, 0));

for(int j=0;j<10;j++){

led.setPixelColor(i+j, hsv2rgb(180, 1, 0.1));

}

led.setPixelColor(i, hsv2rgb(180, 1, 0.1));

led.show();

delay(10);

}

void movingPoints(int rpt){

int x=0;

int y=0;

int pNUM=8;

int xt,yt,p,points[pNUM][2];

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

boolean TRY=true;

int count=0;

while(TRY && count<10){

xt=x;

yt=y;

int r=random(0,4);

switch(r){

case 0:xt=xt-1;break;

case 1:xt=xt+1;break;

case 2:yt=yt-1;break;

case 3:yt=yt+1;break;

default:break;

}

xt=within(xt,WNUM);

yt=within(yt,HNUM);

int s=0;

TRY=false;

while(s<pNUM){

if(points[s][0]==xt && points[s][1]==yt){

TRY=true;

s=pNUM;

}

s++;

}

count++;

}

x=xt;

y=yt;

p=i%pNUM;

points[p][0]=x;

points[p][1]=y;

baseColor(led.Color(0, 5, 0));

for(int j=0;j<pNUM;j++){

led.setPixelColor(points[j][1]*WNUM+points[j][0], led.Color(5, 0, 0));

led.setPixelColor(points[j][1]*WNUM+within((points[j][0]+10),WNUM), led.Color(0, 0, 5));

}

led.show();

delay(50);

}

void testH_line(uint32_t c){

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

baseColor(led.Color(0, 5, 0));

for(int j=0;j<WNUM;j++){

led.setPixelColor(j+(i*WNUM), c);

}

led.show();

delay(50);

}

void testV_line(uint32_t c){

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

baseColor(led.Color(0, 5, 0));

for(int j=0;j<HNUM;j++){

led.setPixelColor(i+(j*WNUM), c);

}

led.show();

delay(25);

}

void testColor(){

for(int i=0;i<360;i++){

baseColor(hsv2rgb(i,1,0.05));

led.show();

delay(20);

}

void SevenColorRings(){

//uint32_t SvnC[]={Wheel(0,0.1),Wheel(60,0.1),Wheel(120,0.1),Wheel(180,0.1),Wheel(240,0.1),Wheel(300,0.1)};

uint32_t SvnC[]={hsv2rgb(0,1,0.1),hsv2rgb(60,1,0.1),hsv2rgb(120,1,0.1),hsv2rgb(180,1,0.1),hsv2rgb(240,1,0.1),hsv2rgb(300,1,0.1),hsv2rgb(300,0,0.1)};

for(int i=0;i<7;i++){

for(int j=0;j<HNUM;j++){

setColorRing(j, SvnC[(i+j)%7]);

}

led.show();

delay(200);

}

void setColorRing(int hpos, uint32_t c){

hpos=within(hpos,HNUM);

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

led.setPixelColor(i+(hpos*WNUM), c);

}

int within(int p,int R){

int res=p%R;

if(res<0){

res=res+R;

}

return res;

}

void baseColor(uint32_t c){

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

led.setPixelColor(i,c);

}

//Based on https://github.com/ratkins/RGBConverter/blob/master/RGBConverter.cpp

//h(0-360),s(0.0-1.0),v(0.0-1.0)

uint32_t hsv2rgb(float h, float s, float v) {

float r, g, b;

h=within(h,360);

h=h/360;

int i = int(h * 6);

float f = h * 6 - i;

float p = v * (1 - s);

float q = v * (1 - f * s);

float t = v * (1 - (1 - f) * s);

switch(i % 6){

case 0: r = v, g = t, b = p; break;

case 1: r = q, g = v, b = p; break;

case 2: r = p, g = v, b = t; break;

case 3: r = p, g = q, b = v; break;

case 4: r = t, g = p, b = v; break;

case 5: r = v, g = p, b = q; break;

}

r=int(r*255),g=int(g*255),b=int(b*255);

return led.Color(r, g, b);

}

ESP32のArduino IDEでBLEを試してみました

ESP32はWiFiに加えてBLEも使えるということで注目されています。Arduino IDEでは、2017年の10月頃からBLEがサポートされ始めました。

ボードも入手しやすくなってMH-ET LIVE D1 mini ESP32という小型のボードは$7.5ぐらいでAliExpressで購入できました。

https://ja.aliexpress.com/item/MH-ET-LIVE-D1-mini-ESP32-ESP-32-WiFi-Bluetooth-Internet-of-Things-development-board-based/32816658883.html?spm=a2g0s.9042311.0.0.Zbsxqj

今回はそのESP32を2個使って、サーバーとクライアントで動作させてみました。どちらもArduino IDEでプログラミングできるので楽なのではないかと思います。サーバーには照度センサーNJL7502Lがあり、クライアントが接続すると照度のデータを送ります。クライアントが接続している間はゆらゆら人形が揺れます。クライアントはデータをもらってシリアルでPCにデータを表示します。

電気回路：
3.3Vを照度センサの+側(長い足)、照度センサの-側(短い足)は10kΩでGNDに接続して、短い足の電圧をアナログ入力AI6(IO34)に接続します。データシートを見ると1000luxで３Vの出力になるようです。ゆらゆら人形はIO5とGNDに接続します。ゆらゆら人形はDaisoのソーラーゆらゆらを改造して、コイル両端を回路から外して外部に取り出します。
クライアント側はUSBでPCに接続します。

BLEライブラリの導入には以下のURLの情報を参考にしました。
「Arduino IDEでESP32 BLEライブラリを導入」
https://qiita.com/tomorrow56/items/afa06e206eec9fafcc7a

BLEライブラリはArduinoっぽくないので、「山勘で書いて、動いた」というレベルですのでもっと良いサンプルを誰かが書いてくれると思います。現状で分かっている問題点としては、サーバーが電源OFFで停止するとクライアントがハングアップして、クライアントの電源をOFF-ONしないと復帰しない点です。

サーバー側のスケッチ（ベースにしたのはBLE_notify）

//https://dotstud.io/blog/nefrybt-ble-bluetooth-peripheral/

#include <BLEDevice.h>
#include <BLEServer.h>
#include <BLEUtils.h>
#include <BLE2902.h>

BLECharacteristic *pCharacteristic;
bool deviceConnected = false;
int value = 0;
const int analogInPin = A6;
int sensorValue = 0;

// See the following for generating UUIDs:
// https://www.uuidgenerator.net/


#define SERVICE_UUID        "81d78b05-4e0a-4644-b364-b79312e4c307"
#define CHARACTERISTIC_UUID "0989bf07-e886-443e-82db-7108726bb650"
#define SERVER_NAME         "esp32devc"

class MyServerCallbacks: public BLEServerCallbacks {
    void onConnect(BLEServer* pServer) {
      deviceConnected = true;
    };

    void onDisconnect(BLEServer* pServer) {
      deviceConnected = false;
    }
};

void setup() {
  Serial.begin(115200);
  Serial.println("BLE_DataServer180130");
  pinMode(5, OUTPUT);
  BLEDevice::init(SERVER_NAME);
  BLEServer *pServer = BLEDevice::createServer();
  pServer->setCallbacks(new MyServerCallbacks());
  BLEService *pService = pServer->createService(SERVICE_UUID);
  pCharacteristic = pService->createCharacteristic(
                      CHARACTERISTIC_UUID,
                      BLECharacteristic::PROPERTY_READ   |
                      BLECharacteristic::PROPERTY_WRITE  |
                      BLECharacteristic::PROPERTY_NOTIFY |
                      BLECharacteristic::PROPERTY_INDICATE
                    );

  pCharacteristic->addDescriptor(new BLE2902());
  pService->start();
  pServer->getAdvertising()->start();
  Serial.println("Waiting a client connection to notify...");
}

void loop() {

  if (deviceConnected) {
    Serial.printf("*** NOTIFY: %d ***\n", value);
    char buffer[10];
    sensorValue = analogRead(analogInPin);
    value=map(sensorValue, 0, 4095, 0, 1100);
    //sprintf(buffer, "%d", sensorValue);
    sprintf(buffer, "%d", value);
    Serial.printf(buffer);
    pCharacteristic->setValue(buffer);
    pCharacteristic->notify();
    digitalWrite(5, HIGH);   // turn the LED on (HIGH is the voltage level)
    delay(30);                       // wait for a second
    digitalWrite(5, LOW);    // turn the LED off by making the voltage LOW
    //value++;
  }
  delay(300);
}

//https://dotstud.io/blog/nefrybt-ble-bluetooth-peripheral/

#include <BLEDevice.h>

#include <BLEServer.h>

#include <BLEUtils.h>

#include <BLE2902.h>

BLECharacteristic *pCharacteristic;

bool deviceConnected = false;

int value = 0;

const int analogInPin = A6;

int sensorValue = 0;

// See the following for generating UUIDs:

// https://www.uuidgenerator.net/

#define SERVICE_UUID "81d78b05-4e0a-4644-b364-b79312e4c307"

#define CHARACTERISTIC_UUID "0989bf07-e886-443e-82db-7108726bb650"

#define SERVER_NAME "esp32devc"

class MyServerCallbacks: public BLEServerCallbacks {

void onConnect(BLEServer* pServer) {

deviceConnected = true;

};

void onDisconnect(BLEServer* pServer) {

deviceConnected = false;

}

};

void setup() {

Serial.begin(115200);

Serial.println("BLE_DataServer180130");

pinMode(5, OUTPUT);

BLEDevice::init(SERVER_NAME);

BLEServer *pServer = BLEDevice::createServer();

pServer->setCallbacks(new MyServerCallbacks());

BLEService *pService = pServer->createService(SERVICE_UUID);

pCharacteristic = pService->createCharacteristic(

CHARACTERISTIC_UUID,

BLECharacteristic::PROPERTY_READ |

BLECharacteristic::PROPERTY_WRITE |

BLECharacteristic::PROPERTY_NOTIFY |

BLECharacteristic::PROPERTY_INDICATE

);

pCharacteristic->addDescriptor(new BLE2902());

pService->start();

pServer->getAdvertising()->start();

Serial.println("Waiting a client connection to notify...");

}

void loop() {

if (deviceConnected) {

Serial.printf("*** NOTIFY: %d ***\n", value);

char buffer[10];

sensorValue = analogRead(analogInPin);

value=map(sensorValue, 0, 4095, 0, 1100);

//sprintf(buffer, "%d", sensorValue);

sprintf(buffer, "%d", value);

Serial.printf(buffer);

pCharacteristic->setValue(buffer);

pCharacteristic->notify();

digitalWrite(5, HIGH); // turn the LED on (HIGH is the voltage level)

delay(30); // wait for a second

digitalWrite(5, LOW); // turn the LED off by making the voltage LOW

//value++;

}

delay(300);

}

クライアント側のスケッチ（ベースにしたのはBLE_client）

//Based on BLE client example
//サーバーが停止するとエラーで回復できない

#include "BLEDevice.h"

#define SERVICE_UUID        "81d78b05-4e0a-4644-b364-b79312e4c307"
#define CHARACTERISTIC_UUID "0989bf07-e886-443e-82db-7108726bb650"
#define SERVER_NAME         "esp32devc"

static BLEUUID  serviceUUID(SERVICE_UUID);
static BLEUUID  charUUID(CHARACTERISTIC_UUID);


static BLEAddress *pServerAddress;
static boolean doConnect = false;
static boolean connected = false;
static BLERemoteCharacteristic* pRemoteCharacteristic;


static void notifyCallback(
  BLERemoteCharacteristic* pBLERemoteCharacteristic,
  uint8_t* pData,
  size_t length,
  bool isNotify) {
    Serial.print("Notify callback for characteristic ");
    Serial.print(pBLERemoteCharacteristic->getUUID().toString().c_str());
    Serial.print(" of data length ");
    Serial.println(length);
}


bool connectToServer(BLEAddress pAddress) {
    Serial.print("Forming a connection to ");
    Serial.println(pAddress.toString().c_str());
    BLEClient*  pClient  = BLEDevice::createClient();
    pClient->connect(pAddress);
    BLERemoteService* pRemoteService = pClient->getService(serviceUUID);
    Serial.print(" - Connected to server :");
    Serial.println(serviceUUID.toString().c_str());
    if (pRemoteService == nullptr) {
      Serial.print("Failed to find our service UUID: ");
      Serial.println(serviceUUID.toString().c_str());
      return false;
    }
    pRemoteCharacteristic = pRemoteService->getCharacteristic(charUUID);
    Serial.print(" - Found our characteristic UUID: ");
    Serial.println(charUUID.toString().c_str());
    if (pRemoteCharacteristic == nullptr) {
      Serial.print("Failed to find our characteristic UUID: ");
      return false;
    }
    Serial.println(" - Found our characteristic");
    pRemoteCharacteristic->registerForNotify(notifyCallback);
}


class MyAdvertisedDeviceCallbacks: public BLEAdvertisedDeviceCallbacks {
  void onResult(BLEAdvertisedDevice advertisedDevice) {
    Serial.print("BLE Advertised Device found: ");
    Serial.println(advertisedDevice.toString().c_str());//Name: esp32devc, Address: 30:ae:a4:02:a3:fe, txPower: -21
    Serial.println(advertisedDevice.getName().c_str());//esp32devc
    
    if(advertisedDevice.getName()==SERVER_NAME){ //
      Serial.println(advertisedDevice.getAddress().toString().c_str());
      advertisedDevice.getScan()->stop();
      pServerAddress = new BLEAddress(advertisedDevice.getAddress());
      doConnect = true;
    }
  }
};


void setup() {
  pinMode(5, OUTPUT);
  Serial.begin(115200);
  Serial.println("BLE_DataClient180130");
  BLEDevice::init("");
  BLEScan* pBLEScan = BLEDevice::getScan();
  Serial.println("getScan");
  pBLEScan->setAdvertisedDeviceCallbacks(new MyAdvertisedDeviceCallbacks());
  Serial.println("setAdvertisedDeviceCallbacks");
  pBLEScan->setActiveScan(true);
  pBLEScan->start(10);
  Serial.println("");
  Serial.println("End of setup");
}


void loop() {
  if (doConnect == true) {
    if (connectToServer(*pServerAddress)) {
      Serial.println("We are now connected to the BLE Server.");
      connected = true;
    } else {
      Serial.println("We have failed to connect to the server; there is nothin more we will do.");
      connected = false;
    }
    doConnect = false;
  }
  if (connected) {
    digitalWrite(5, HIGH);
    std::string value = pRemoteCharacteristic->readValue();
    String strVal=value.c_str();
    int strNum=strVal.toInt();
    Serial.println(strNum);
  } else{
    Serial.println("Not connected");
    doConnect = true;
  }
  delay(1000);
  digitalWrite(5, LOW);
  delay(1000);
}

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//Based on BLE client example

//サーバーが停止するとエラーで回復できない

#include "BLEDevice.h"

#define SERVICE_UUID "81d78b05-4e0a-4644-b364-b79312e4c307"

#define CHARACTERISTIC_UUID "0989bf07-e886-443e-82db-7108726bb650"

#define SERVER_NAME "esp32devc"

static BLEUUID serviceUUID(SERVICE_UUID);

static BLEUUID charUUID(CHARACTERISTIC_UUID);

static BLEAddress *pServerAddress;

static boolean doConnect = false;

static boolean connected = false;

static BLERemoteCharacteristic* pRemoteCharacteristic;

static void notifyCallback(

BLERemoteCharacteristic* pBLERemoteCharacteristic,

uint8_t* pData,

size_t length,

bool isNotify) {

Serial.print("Notify callback for characteristic ");

Serial.print(pBLERemoteCharacteristic->getUUID().toString().c_str());

Serial.print(" of data length ");

Serial.println(length);

}

bool connectToServer(BLEAddress pAddress) {

Serial.print("Forming a connection to ");

Serial.println(pAddress.toString().c_str());

BLEClient* pClient = BLEDevice::createClient();

pClient->connect(pAddress);

BLERemoteService* pRemoteService = pClient->getService(serviceUUID);

Serial.print(" - Connected to server :");

Serial.println(serviceUUID.toString().c_str());

if (pRemoteService == nullptr) {

Serial.print("Failed to find our service UUID: ");

Serial.println(serviceUUID.toString().c_str());

return false;

}

pRemoteCharacteristic = pRemoteService->getCharacteristic(charUUID);

Serial.print(" - Found our characteristic UUID: ");

Serial.println(charUUID.toString().c_str());

if (pRemoteCharacteristic == nullptr) {

Serial.print("Failed to find our characteristic UUID: ");

return false;

}

Serial.println(" - Found our characteristic");

pRemoteCharacteristic->registerForNotify(notifyCallback);

}

class MyAdvertisedDeviceCallbacks: public BLEAdvertisedDeviceCallbacks {

void onResult(BLEAdvertisedDevice advertisedDevice) {

Serial.print("BLE Advertised Device found: ");

Serial.println(advertisedDevice.toString().c_str());//Name: esp32devc, Address: 30:ae:a4:02:a3:fe, txPower: -21

Serial.println(advertisedDevice.getName().c_str());//esp32devc

if(advertisedDevice.getName()==SERVER_NAME){ //

Serial.println(advertisedDevice.getAddress().toString().c_str());

advertisedDevice.getScan()->stop();

pServerAddress = new BLEAddress(advertisedDevice.getAddress());

doConnect = true;

}

};

void setup() {

pinMode(5, OUTPUT);

Serial.begin(115200);

Serial.println("BLE_DataClient180130");

BLEDevice::init("");

BLEScan* pBLEScan = BLEDevice::getScan();

Serial.println("getScan");

pBLEScan->setAdvertisedDeviceCallbacks(new MyAdvertisedDeviceCallbacks());

Serial.println("setAdvertisedDeviceCallbacks");

pBLEScan->setActiveScan(true);

pBLEScan->start(10);

Serial.println("");

Serial.println("End of setup");

}

void loop() {

if (doConnect == true) {

if (connectToServer(*pServerAddress)) {

Serial.println("We are now connected to the BLE Server.");

connected = true;

} else {

Serial.println("We have failed to connect to the server; there is nothin more we will do.");

connected = false;

}

doConnect = false;

}

if (connected) {

digitalWrite(5, HIGH);

std::string value = pRemoteCharacteristic->readValue();

String strVal=value.c_str();

int strNum=strVal.toInt();

Serial.println(strNum);

} else{

Serial.println("Not connected");

doConnect = true;

}

delay(1000);

digitalWrite(5, LOW);

delay(1000);

}

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(",");