Brandon,
Here’s the code:
The GPS lights indicate a satellite connection and the 9250 indicates its connected and reading sensors but I end up with the looping message seen below.
Setting up SD card.
gpslog0.csv exists
File name: gpslog1.csSetting up SD card.
gpslog0.csv exists
gpslog1.csv exists
File name: gpslog2.csv
MPU9250 I AM 0x71 I should be 0x71
MPU9250 is online…
x-axis self test: acceleration trim within : 1.5% of factory value
y-axis self test: acceleration trim within : -0.9% of factory value
z-axis self test: acceleration trim within : 1.9% of factory value
x-axis self test: gyration trim within : -4.9% of factory value
y-axis self test: gyration trim within : -1.1% of factory value
z-axis self test: gyration trim within : -0.1% of factory value
MPU9250 initialized for active data mode…
AK8963 I AM 0x48 I should be 0x48
No GPS data. Sats: 1495990272
No GPS data. Sats: 1495990272
No GPS data. Sats: 1495990272
No GPS data. Sats: 1495990272
#include <SPI.h>
#include <SD.h>
#include <TinyGPS++.h>
#include <quaternionFilters.h>
#include <MPU9250.h>
#define ARDUINO_USD_CS 10 // uSD card CS pin (pin 10 on SparkFun GPS Logger Shield)
/////////////////////////
// Log File Defintions //
/////////////////////////
// Keep in mind, the SD library has max file name lengths of 8.3 - 8 char prefix,
// and a 3 char suffix.
// Our log files are called "gpslogXX.csv, so "gpslog99.csv" is our max file.
#define LOG_FILE_PREFIX "gpslog" // Name of the log file.
#define MAX_LOG_FILES 100 // Number of log files that can be made
#define LOG_FILE_SUFFIX "csv" // Suffix of the log file
char logFileName[13]; // Char string to store the log file name
// Data to be logged:
#define LOG_COLUMN_COUNT 8
char * log_col_names[LOG_COLUMN_COUNT] = {
"longitude", "latitude", "altitude", "speed", "course", "date", "time", "satellites"
}; // log_col_names is printed at the top of the file.
//////////////////////
// Log Rate Control //
//////////////////////
#define LOG_RATE 5000 // Log every 5 seconds
unsigned long lastLog = 0; // Global var to keep of last time we logged
/////////////////////////
// TinyGPS Definitions //
/////////////////////////
TinyGPSPlus tinyGPS; // tinyGPSPlus object to be used throughout
#define GPS_BAUD 9600 // GPS module's default baud rate
/////////////////////////////////
// GPS Serial Port Definitions //
/////////////////////////////////
// If you're using an Arduino Uno, RedBoard, or any board that uses the
// 0/1 UART for programming/Serial monitor-ing, use SoftwareSerial:
#include <SoftwareSerial.h>
#define ARDUINO_GPS_RX 9 // GPS TX, Arduino RX pin
#define ARDUINO_GPS_TX 8 // GPS RX, Arduino TX pin
SoftwareSerial ssGPS(ARDUINO_GPS_TX, ARDUINO_GPS_RX); // Create a SoftwareSerial
// Set gpsPort to either ssGPS if using SoftwareSerial or Serial1 if using an
// Arduino with a dedicated hardware serial port
#define gpsPort ssGPS // Alternatively, use Serial1 on the Leonardo
// Define the serial monitor port. On the Uno, and Leonardo this is 'Serial'
// on other boards this may be 'SerialUSB'
#define SerialMonitor Serial
#define I2Cclock 400000
#define I2Cport Wire
#define MPU9250_ADDRESS MPU9250_ADDRESS_AD0
MPU9250 myIMU(MPU9250_ADDRESS, I2Cport, I2Cclock);
void setup()
{
Wire.begin();
SerialMonitor.begin(9600);
gpsPort.begin(GPS_BAUD);
SerialMonitor.println("Setting up SD card.");
// see if the card is present and can be initialized:
if (!SD.begin(ARDUINO_USD_CS))
{
SerialMonitor.println("Error initializing SD card.");
}
updateFileName(); // Each time we start, create a new file, increment the number
printHeader(); // Print a header at the top of the new file
// Read the WHO_AM_I register, this is a good test of communication
byte c = myIMU.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
SerialMonitor.print(F("MPU9250 I AM 0x"));
SerialMonitor.print(c, HEX);
SerialMonitor.print(F(" I should be 0x"));
SerialMonitor.println(0x71, HEX);
if (c == 0x71) // WHO_AM_I should always be 0x71
{
SerialMonitor.println(F("MPU9250 is online..."));
// Start by performing self test and reporting values
myIMU.MPU9250SelfTest(myIMU.selfTest);
SerialMonitor.print(F("x-axis self test: acceleration trim within : "));
SerialMonitor.print(myIMU.selfTest[0],1); Serial.println("% of factory value");
SerialMonitor.print(F("y-axis self test: acceleration trim within : "));
SerialMonitor.print(myIMU.selfTest[1],1); Serial.println("% of factory value");
SerialMonitor.print(F("z-axis self test: acceleration trim within : "));
SerialMonitor.print(myIMU.selfTest[2],1); Serial.println("% of factory value");
SerialMonitor.print(F("x-axis self test: gyration trim within : "));
SerialMonitor.print(myIMU.selfTest[3],1); Serial.println("% of factory value");
SerialMonitor.print(F("y-axis self test: gyration trim within : "));
SerialMonitor.print(myIMU.selfTest[4],1); Serial.println("% of factory value");
SerialMonitor.print(F("z-axis self test: gyration trim within : "));
SerialMonitor.print(myIMU.selfTest[5],1); Serial.println("% of factory value");
// Calibrate gyro and accelerometers, load biases in bias registers
myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);
myIMU.initMPU9250();
// Initialize device for active mode read of acclerometer, gyroscope, and
// temperature
SerialMonitor.println("MPU9250 initialized for active data mode....");
// Read the WHO_AM_I register of the magnetometer, this is a good test of
// communication
byte d = myIMU.readByte(AK8963_ADDRESS, WHO_AM_I_AK8963);
SerialMonitor.print("AK8963 ");
SerialMonitor.print("I AM 0x");
SerialMonitor.print(d, HEX);
SerialMonitor.print(" I should be 0x");
SerialMonitor.println(0x48, HEX);
if (d != 0x48)
{
// Communication failed, stop here
SerialMonitor.println(F("Communication failed, abort!"));
SerialMonitor.flush();
abort();
}
} // if (c == 0x71)
else
{
SerialMonitor.print("Could not connect to MPU9250: 0x");
SerialMonitor.println(c, HEX);
// Communication failed, stop here
SerialMonitor.println(F("Communication failed, abort!"));
SerialMonitor.flush();
abort();
}
}
void loop()
{
if ((lastLog + LOG_RATE) <= millis())
{ // If it's been LOG_RATE milliseconds since the last log:
if (tinyGPS.location.isUpdated()) // If the GPS data is vaild
{
if (logGPSData()) // Log the GPS data
{
SerialMonitor.println("GPS logged."); // Print a debug message
lastLog = millis(); // Update the lastLog variable
}
else // If we failed to log GPS
{ // Print an error, don't update lastLog
SerialMonitor.println("Failed to log new GPS data.");
}
}
else // If GPS data isn't valid
{
// Print a debug message. Maybe we don't have enough satellites yet.
SerialMonitor.print("No GPS data. Sats: ");
SerialMonitor.println(tinyGPS.satellites.value());
}
}
// If we're not logging, continue to "feed" the tinyGPS object:
while (gpsPort.available())
tinyGPS.encode(gpsPort.read());
}
byte logGPSData()
{
File logFile = SD.open(logFileName, FILE_WRITE); // Open the log file
if (logFile)
{ // Print longitude, latitude, altitude (in feet), speed (in mph), course
// in (degrees), date, time, and number of satellites.
logFile.print(tinyGPS.location.lng(), 6);
logFile.print(',');
logFile.print(tinyGPS.location.lat(), 6);
logFile.print(',');
logFile.print(tinyGPS.altitude.feet(), 1);
logFile.print(',');
logFile.print(tinyGPS.speed.mph(), 1);
logFile.print(',');
logFile.print(tinyGPS.course.deg(), 1);
logFile.print(',');
logFile.print(tinyGPS.date.value());
logFile.print(',');
logFile.print(tinyGPS.time.value());
logFile.print(',');
logFile.print(tinyGPS.satellites.value());
logFile.println();
logFile.close();
return 1; // Return success
}
return 0; // If we failed to open the file, return fail
}
// printHeader() - prints our eight column names to the top of our log file
void printHeader()
{
File logFile = SD.open(logFileName, FILE_WRITE); // Open the log file
if (logFile) // If the log file opened, print our column names to the file
{
int i = 0;
for (; i < LOG_COLUMN_COUNT; i++)
{
logFile.print(log_col_names[i]);
if (i < LOG_COLUMN_COUNT - 1) // If it's anything but the last column
logFile.print(','); // print a comma
else // If it's the last column
logFile.println(); // print a new line
}
logFile.close(); // close the file
}
}
// updateFileName() - Looks through the log files already present on a card,
// and creates a new file with an incremented file index.
void updateFileName()
{
int i = 0;
for (; i < MAX_LOG_FILES; i++)
{
memset(logFileName, 0, strlen(logFileName)); // Clear logFileName string
// Set logFileName to "gpslogXX.csv":
sprintf(logFileName, "%s%d.%s", LOG_FILE_PREFIX, i, LOG_FILE_SUFFIX);
if (!SD.exists(logFileName)) // If a file doesn't exist
{
break; // Break out of this loop. We found our index
}
else // Otherwise:
{
SerialMonitor.print(logFileName);
SerialMonitor.println(" exists"); // Print a debug statement
}
}
SerialMonitor.print("File name: ");
SerialMonitor.println(logFileName); // Debug print the file name
}