Mpu6050 和 Adafruit Ultimate Gps 无法在 Arduino Due 上协同工作

Question

我有 mpu6050 和 adafruit ultimate gps breakout v3 的代码，它们在 arduino 上工作正常，但当我尝试将这两个代码组合在一起时，gps 没有得到修复。有人可以帮帮我吗？下面给出mpu6050的代码

    // MPU-6050 Short Example Sketch
    // By Arduino User JohnChi
    // August 17, 2014
    // Public Domain
#include<Wire.h>
extern TwoWire Wire1;
const int MPU_addr=0x68;  // I2C address of the MPU-6050
int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
int minVal=265;
int maxVal=402;
double x;
double y;
double z;
double pitch,roll,delta_X,delta_Y,delta_Z;
double old_AcX=0;
double old_AcY=0;
double old_AcZ=0;
int led = 13;

void setup(){
  Wire1.begin();
  Wire1.beginTransmission(MPU_addr);
  Wire1.write(0x6B);  // PWR_MGMT_1 register
  Wire1.write(0);     // set to zero (wakes up the MPU-6050)
  Wire1.endTransmission(true);
  Serial.begin(9600);
  pinMode(led, OUTPUT);
 }
 void loop(){
  Wire1.beginTransmission(MPU_addr);
  Wire1.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire1.endTransmission(false);
  Wire1.requestFrom(MPU_addr,14,true);  // request a total of 14        registers
  AcX=Wire1.read()<<8|Wire1.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)    
  AcY=Wire1.read()<<8|Wire1.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ=Wire1.read()<<8|Wire1.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp=Wire1.read()<<8|Wire1.read();  // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
  GyX=Wire1.read()<<8|Wire1.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY=Wire1.read()<<8|Wire1.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ=Wire1.read()<<8|Wire1.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
  Serial.print("AcX = "); Serial.print(AcX);
  Serial.print(" | AcY = "); Serial.print(AcY);
  Serial.print(" | AcZ = "); Serial.print(AcZ);
  Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53);     //equation for temperature in degrees C from datasheet
  Serial.print(" | GyX = "); Serial.print(GyX);
  Serial.print(" | GyY = "); Serial.print(GyY);
  Serial.print(" | GyZ = "); Serial.println(GyZ);



  delay(1000);
 }

下面给出了 Adafruit 最终 Gps 突破的代码

#include <Adafruit_GPS.h>
#define mySerial Serial1
Adafruit_GPS GPS(&mySerial);
#define GPSECHO  true
   boolean usingInterrupt = false;
    void useInterrupt(boolean); // Func prototype keeps Arduino 0023  happy


    void setup()  
    {


      Serial.begin(9600);
      GPS.begin(9600);
      mySerial.begin(9600);
      GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
      GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);  
      GPS.sendCommand(PGCMD_ANTENNA);
     #ifdef __arm__
  usingInterrupt = false;  
#else
  useInterrupt(true);
  #endif

  delay(1000);

}

#ifdef __AVR__
SIGNAL(TIMER0_COMPA_vect) {
  char c = GPS.read();
#ifdef UDR0
  if (GPSECHO)
    if (c) UDR0 = c;  
    // writing direct to UDR0 is much much faster than Serial.print 
    // but only one character can be written at a time. 
#endif
}

void useInterrupt(boolean v) {
  if (v) {

    OCR0A = 0xAF;
    TIMSK0 |= _BV(OCIE0A);
    usingInterrupt = true;
  } else {
    // do not call the interrupt function COMPA anymore
    TIMSK0 &= ~_BV(OCIE0A);
    usingInterrupt = false;
  }
}
#endif //#ifdef__AVR__

uint32_t timer = millis();
void loop()                     
{

  if (! usingInterrupt) {
    char c = GPS.read();
  }

   // if a sentence is received, we can check the checksum, parse it...
   if (GPS.newNMEAreceived()) {
    // a tricky thing here is if we print the NMEA sentence, or data
    // we end up not listening and catching other sentences! 
    // so be very wary if using OUTPUT_ALLDATA and trytng to print out data
    //Serial.println(GPS.lastNMEA());   // this also sets the newNMEAreceived() flag to false

    if (!GPS.parse(GPS.lastNMEA()))   // this also sets the newNMEAreceived() flag to false
      return;  // we can fail to parse a sentence in which case we should just wait for another
  }

  // if millis() or timer wraps around, we'll just reset it
   if (timer > millis())  timer = millis();

  // approximately every 2 seconds or so, print out the current stats
  if (millis() - timer > 2000) { 
     timer = millis(); // reset the timer

    Serial.print("\nTime: ");
    Serial.print(GPS.hour, DEC); Serial.print(':');
    Serial.print(GPS.minute, DEC); Serial.print(':');
    Serial.print(GPS.seconds, DEC); Serial.print('.');
    Serial.println(GPS.milliseconds);
    Serial.print("Date: ");
    Serial.print(GPS.day, DEC); Serial.print('/');
    Serial.print(GPS.month, DEC); Serial.print("/20");
    Serial.println(GPS.year, DEC);
    Serial.print("Fix: "); Serial.print((int)GPS.fix);
    Serial.print(" quality: "); Serial.println((int)GPS.fixquality); 
    if (GPS.fix) {
      //Serial.print("Location: ");
      Serial.print(convertDegMinToDecDeg(GPS.latitude)); 
      Serial.print(", "); 
      Serial.println(convertDegMinToDecDeg(GPS.longitude)); 

      //Serial.print("Speed (knots): "); Serial.println(GPS.speed);
      //Serial.print("Angle: "); Serial.println(GPS.angle);
      //Serial.print("Altitude: "); Serial.println(GPS.altitude);
      //Serial.print("Satellites: ");       Serial.println((int)GPS.satellites);
    }
  }
}

这两个代码单独运行良好，但我无法将它们组合起来，运行在一个 code.I 中尝试将它们组合起来，但 adafruit Ultimate gps breakout 无法正常工作，它给出了没有什么。我想知道如何提前将它们组合成一个 code.Thanks。

Answer 1

改为使用 NeoGPS——只需将其添加到您的 IMU 草图中：

#include <NMEAGPS.h>
NMEAGPS gps;
#define gpsPort Serial1

   ...

void setup(){
  Wire1.begin();
  Wire1.beginTransmission(MPU_addr);
  Wire1.write(0x6B);  // PWR_MGMT_1 register
  Wire1.write(0);     // set to zero (wakes up the MPU-6050)
  Wire1.endTransmission(true);
  Serial.begin(9600);
  pinMode(led, OUTPUT);

  gpsPort.begin( 9600 );
}

void loop(){
  if (gps.available( gpsPort )) {
    gps_fix fix = gps.read();  // A new GPS update is ready, get all the pieces
    // Print some of the pieces?

    Serial.print( F("Location: ") );
    if (fix.valid.location) {
      Serial.print( fix.latitude(), 6 );
      Serial.print( ',' );
      Serial.print( fix.longitude(), 6 );
    }

    Serial.print( F(", Altitude: ") );
    if (fix.valid.altitude)
      Serial.print( fix.altitude() );

    Serial.println();

    //  Take an IMU sample too.
    Wire1.beginTransmission(MPU_addr);
       ...
    Serial.print(" | GyZ = "); Serial.println(GyZ);
  }
}

这将显示每秒一次 GPS 更新和一次 IMU 样本。

此外，您不能使用 delay。 Arduino 在延迟期间不会做任何其他事情，并且会丢失 GPS 字符。注意上面的循环结构总是运行，检查 GPS 数据。当 GPS 更新最终准备就绪时，它会获取 IMU 样本并打印所有结果。

您还必须注意 printing too much 信息。最终，Arduino 将花费所有时间等待打印字符。

NeoGPS 可从 Arduino IDE 库管理器中获得，在菜单 Sketch -> Include Library -> Manage Libraries 下。 NeoGPS 比所有其他 GPS 库更快、更小、更可靠和更准确，并且示例结构合理。 other 库的示例在修改时中断是很常见的。即使您不使用它，在 NeoGPS 安装和故障排除页面上也有很多信息。

Mpu6050 和 Adafruit Ultimate Gps 无法在 Arduino Due 上协同工作

Mpu6050 and Adafruit Ultimate Gps not working together on Arduino Due

gps

arduino-due

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