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-rw-r--r--megalogger/config.h1
-rw-r--r--megalogger/megalogger.ino121
2 files changed, 77 insertions, 45 deletions
diff --git a/megalogger/config.h b/megalogger/config.h
index 0ca6ed2..a29a442 100644
--- a/megalogger/config.h
+++ b/megalogger/config.h
@@ -49,6 +49,7 @@
* Accelerometer & Gyro
**************************************/
#define USE_MPU6050 1
+//#define USE_MPU9150 1
#define ACC_DATA_RATIO 160
#define GYRO_DATA_RATIO 256
diff --git a/megalogger/megalogger.ino b/megalogger/megalogger.ino
index 229dcfc..65fad3c 100644
--- a/megalogger/megalogger.ino
+++ b/megalogger/megalogger.ino
@@ -1,7 +1,7 @@
/*************************************************************************
-* Arduino GPS/OBD-II/G-Force Data Logger
+* Arduino GPS/OBD-II/9-Axis Data Logger
* Distributed under GPL v2.0
-* Copyright (c) 2013-2014 Stanley Huang <stanleyhuangyc@gmail.com>
+* Copyright (c) 2013-2015 Stanley Huang <stanleyhuangyc@gmail.com>
* All rights reserved.
* Visit http://freematics.com for more information
*************************************************************************/
@@ -13,7 +13,8 @@
#include <SD.h>
#include <MultiLCD.h>
#include <TinyGPS.h>
-#include <MPU6050.h>
+#include <I2Cdev.h>
+#include <MPU9150.h>
#include "Narcoleptic.h"
#include "config.h"
#include "images.h"
@@ -27,7 +28,7 @@
#define STATE_OBD_READY 0x2
#define STATE_GPS_CONNECTED 0x4
#define STATE_GPS_READY 0x8
-#define STATE_ACC_READY 0x10
+#define STATE_MEMS_READY 0x10
#define STATE_GUI_ON 0x20
// adapter type
@@ -48,11 +49,15 @@ TinyGPS gps;
#endif
+#if USE_MPU6050 || USE_MPU9150
+MPU6050 accelgyro;
+static uint32_t lastMemsDataTime = 0;
+#endif
+
void doIdleTasks();
static uint8_t lastFileSize = 0;
static uint32_t lastGPSDataTime = 0;
-static uint32_t lastACCDataTime = 0;
static uint32_t lastRefreshTime = 0;
static uint32_t distance = 0;
static uint32_t startTime = 0;
@@ -245,14 +250,16 @@ void initScreen()
lcd.print("ACC:");
lcd.setCursor(184, 23);
lcd.print("GYR:");
+ lcd.setCursor(184, 24);
+ lcd.print("MAG:");
- lcd.setCursor(184, 25);
+ lcd.setCursor(184, 26);
lcd.print("OBD FREQ:");
- lcd.setCursor(184, 26);
+ lcd.setCursor(184, 27);
lcd.print("GPS FREQ:");
- lcd.setCursor(184, 27);
+ lcd.setCursor(184, 28);
lcd.print("LOG SIZE:");
//lcd.setColor(0xFFFF);
@@ -382,7 +389,7 @@ void processGPS()
// show GPS data interval
lcd.setFontSize(FONT_SIZE_SMALL);
if (lastGPSDataTime) {
- lcd.setCursor(242, 26);
+ lcd.setCursor(242, 27);
lcd.printInt((uint16_t)logger.dataTime - lastGPSDataTime);
lcd.print("ms");
lcd.printSpace(2);
@@ -440,54 +447,78 @@ void processGPS()
void processAccelerometer()
{
-#if USE_MPU6050
- logger.dataTime = millis();
+#if USE_MPU6050 || USE_MPU9150
+ int16_t ax, ay, az;
+ int16_t gx, gy, gz;
+#if USE_MPU9150
+ int16_t mx, my, mz;
+#endif
- if (logger.dataTime - lastACCDataTime < ACC_DATA_INTERVAL) {
+ if (logger.dataTime - lastMemsDataTime < ACC_DATA_INTERVAL) {
return;
}
- char buf[8];
- accel_t_gyro_union data;
- MPU6050_readout(&data);
+#if USE_MPU9150
+ accelgyro.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
+#else
+ accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+#endif
+
+ logger.dataTime = millis();
lcd.setFontSize(FONT_SIZE_SMALL);
- data.value.x_accel /= ACC_DATA_RATIO;
- data.value.y_accel /= ACC_DATA_RATIO;
- data.value.z_accel /= ACC_DATA_RATIO;
- data.value.x_gyro /= GYRO_DATA_RATIO;
- data.value.y_gyro /= GYRO_DATA_RATIO;
- data.value.z_gyro /= GYRO_DATA_RATIO;
+ ax /= ACC_DATA_RATIO;
+ ay /= ACC_DATA_RATIO;
+ az /= ACC_DATA_RATIO;
+ gx /= GYRO_DATA_RATIO;
+ gy /= GYRO_DATA_RATIO;
+ gz /= GYRO_DATA_RATIO;
// display acc data
lcd.setCursor(214, 22);
- setColorByValue(data.value.x_accel, 50, 100, 200);
- lcd.print(data.value.x_accel);
- setColorByValue(data.value.y_accel, 50, 100, 200);
+ setColorByValue(ax, 50, 100, 200);
+ lcd.print(ax);
+ setColorByValue(ay, 50, 100, 200);
lcd.write('/');
- lcd.print(data.value.y_accel);
- setColorByValue(data.value.z_accel, 50, 100, 200);
+ lcd.print(ay);
+ setColorByValue(az, 50, 100, 200);
lcd.write('/');
- lcd.print(data.value.z_accel);
+ lcd.print(az);
lcd.printSpace(8);
// display gyro data
lcd.setCursor(214, 23);
lcd.setColor(RGB16_WHITE);
- lcd.print(data.value.x_gyro);
+ lcd.print(gx);
+ lcd.write('/');
+ lcd.print(gy);
+ lcd.write('/');
+ lcd.print(gz);
+ lcd.printSpace(8);
+
+#if USE_MPU9150
+ // display compass data
+ lcd.setCursor(214, 24);
+ lcd.setColor(RGB16_WHITE);
+ lcd.print(mx);
lcd.write('/');
- lcd.print(data.value.y_gyro);
+ lcd.print(my);
lcd.write('/');
- lcd.print(data.value.z_gyro);
+ lcd.print(mz);
lcd.printSpace(8);
+#endif
// log x/y/z of accelerometer
- logger.logData(PID_ACC, data.value.x_accel, data.value.y_accel, data.value.z_accel);
+ logger.logData(PID_ACC, ax, ay, az);
// log x/y/z of gyro meter
- logger.logData(PID_GYRO, data.value.x_gyro, data.value.y_gyro, data.value.z_gyro);
+ logger.logData(PID_GYRO, gx, gy, gz);
+#if USE_MPU9150
+ // log x/y/z of compass
+ logger.logData(PID_COMPASS, mx, my, mz);
+#endif
- lastACCDataTime = logger.dataTime;
+ lastMemsDataTime = logger.dataTime;
#endif
}
@@ -536,7 +567,7 @@ void logOBDData(byte pid)
logger.flushFile();
// display logged data size
lcd.setFontSize(FONT_SIZE_SMALL);
- lcd.setCursor(242, 27);
+ lcd.setCursor(242, 28);
lcd.print((unsigned int)(logger.dataSize >> 10));
lcd.print("KB");
lastFileSize = logger.dataSize >> 10;
@@ -621,19 +652,19 @@ void showStates()
lcd.setFontSize(FONT_SIZE_MEDIUM);
lcd.setCursor(0, 8);
- lcd.print("OBD ");
+ lcd.print("OBD ");
lcd.setColor((state & STATE_OBD_READY) ? RGB16_GREEN : RGB16_RED);
lcd.draw((state & STATE_OBD_READY) ? tick : cross, 16, 16);
lcd.setColor(RGB16_WHITE);
lcd.setCursor(0, 10);
- lcd.print("ACC ");
- lcd.setColor((state & STATE_ACC_READY) ? RGB16_GREEN : RGB16_RED);
- lcd.draw((state & STATE_ACC_READY) ? tick : cross, 16, 16);
+ lcd.print("MEMS ");
+ lcd.setColor((state & STATE_MEMS_READY) ? RGB16_GREEN : RGB16_RED);
+ lcd.draw((state & STATE_MEMS_READY) ? tick : cross, 16, 16);
lcd.setColor(RGB16_WHITE);
lcd.setCursor(0, 12);
- lcd.print("GPS ");
+ lcd.print("GPS ");
if (state & STATE_GPS_CONNECTED) {
lcd.setColor(RGB16_GREEN);
lcd.draw(tick, 16, 16);
@@ -649,7 +680,7 @@ void doIdleTasks()
if (!(state & STATE_GUI_ON))
return;
- if (state & STATE_ACC_READY) {
+ if (state & STATE_MEMS_READY) {
processAccelerometer();
}
#if USE_GPS
@@ -668,8 +699,6 @@ void setup()
lcd.print("MEGA LOGGER - OBD-II/GPS/MEMS");
lcd.setColor(RGB16_WHITE);
- Wire.begin();
-
#if USE_GPS
#ifdef GPS_OPEN_BAUDRATE
GPSUART.begin(GPS_OPEN_BAUDRATE);
@@ -688,8 +717,10 @@ void setup()
checkSD();
-#if USE_MPU6050
- if (MPU6050_init() == 0) state |= STATE_ACC_READY;
+#if USE_MPU6050 || USE_MPU9150
+ Wire.begin();
+ accelgyro.initialize();
+ if (accelgyro.testConnection()) state |= STATE_MEMS_READY;
#endif
showStates();
@@ -782,7 +813,7 @@ void loop()
// display OBD time
if (t < 10000) {
lcd.setFontSize(FONT_SIZE_SMALL);
- lcd.setCursor(242, 25);
+ lcd.setCursor(242, 26);
lcd.printInt((uint16_t)t);
lcd.print("ms");
lcd.printSpace(2);
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-22 18:30:33 +0000