我有 mpu6050 和 adafruit 终极 gps 突破 v3 的代码,它们在 arduino 上单独运行良好,但是当我尝试结合这两个代码时,gps 没有得到修复。有人可以帮帮我吗?mpu6050的代码如下
// 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 终极 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);
}
}
}
这两个代码都可以单独工作,但我无法将它们组合并在单个代码中运行。我尝试将它们组合起来,但 adafruit Ultimate gps 突破不起作用,它什么也没提供。我想知道如何将它们组合在一个代码中工作。提前致谢。