Arduino Tracker Datalogger Code

Arduino-Tracker.ino

#include <SparkFun_Ublox_Arduino_Library.h>
#include <Arduino_LSM9DS1.h>
#include <Arduino_APDS9960.h>
#include <SPI.h>
#include <SD.h>

//
// ---- For Arduino Nano 33 BLE Sense board ----
// Connected to MKR Mem Shield & MKR GPS Shield
// ~     Note: GPS Module connected by UART
// ------------- By @duanebester ---------------


// SD Vars
File dataFile;
int chipSelect = 4;

// GPS Vars
SFE_UBLOX_GPS myGPS;
long latitude = 0;
long longitude = 0;
long speed = 0;
byte satellites = 0;
int timeout = 50;
long lastGPSTime = 0;

// IMU Vars
float ax, ay, az;
float gx, gy, gz;

// Misc
bool DEBUG = true;
int counter = 0;

#define LEDR        (22u)
#define LEDG        (23u)
#define LEDB        (24u)

void setup()
{
  // Setup User Terminal
  Serial.begin(115200); // UART to PC/Mac
  while(!Serial);
  Serial1.begin(9600); // UART to GPS
  while(!Serial1);

  // Initialize digital pin LED_BUILTIN as an output.
  pinMode(LED_BUILTIN, OUTPUT);
  pinMode(LEDR, OUTPUT);
  pinMode(LEDB, OUTPUT);
  pinMode(LEDG, OUTPUT);

  digitalWrite(LEDR, HIGH); // LOW triggered LED....
  digitalWrite(LEDG, HIGH);
  digitalWrite(LEDB, HIGH);

  // Setup GPS
  if (!myGPS.begin(Serial1)) {
    Serial.println(F("GPS not detected!"));
    while (1);
  }
  Serial.println("GPS Started!");

  // Setup SD Card
  if (!SD.begin(chipSelect)) {
    Serial.println("SD Card failed or not present!");
    while (1);
  }
  if(SD.exists("DATALOG.CSV")) {
    SD.remove("DATALOG.CSV");
    dataFile = SD.open("DATALOG.CSV", FILE_WRITE);
    dataFile.close();
  }

  delay(500); // Make sure existing DATALOG.CSV file is gone
  
  dataFile = SD.open("DATALOG.CSV", FILE_WRITE);
  dataFile.println("Count,AccX,AccY,AccZ,GyrX,GyrY,GyrZ,Lat,Long,Speed");
  Serial.println("SD Card Initialized!");

  // Setup Gesture Sensor
  if (!APDS.begin()) {
    Serial.println("Error initializing gesture sensor!");
  }
  APDS.setGestureSensitivity(85);
  Serial.println("Gesture sensor initialized!");

  // Setup IMU
  if (!IMU.begin()) {
    Serial.println("Failed to initialize IMU!");
    while(1);
  }
  Serial.println("IMU initialized!");
}

void loop()
{
  if (millis() - lastGPSTime > 500) {
    lastGPSTime = millis(); // Update the timer
    
    latitude = myGPS.getLatitude(timeout);
    longitude = myGPS.getLongitude(timeout);
    speed = myGPS.getGroundSpeed(timeout);
    satellites = myGPS.getSIV(timeout);
    
    if(DEBUG) {
      Serial.print(F("Lat: "));
      Serial.print(latitude);
      Serial.print(F(" Long: "));
      Serial.print(longitude);
      Serial.print(F(" (degrees * 10^-7)"));
      Serial.print(F(" Speed: "));
      Serial.print(speed);
      Serial.print(F(" (mm/s)"));
      Serial.print(F(" satellites: "));
      Serial.println(satellites);
    }
  }

  if (IMU.accelerationAvailable()) {
    IMU.readAcceleration(ax, ay, az);
    if(DEBUG) {
      Serial.print(F("Accel x: "));
      Serial.print(ax);
      Serial.print(F(" y: "));
      Serial.print(ay);
      Serial.print(F(" z: "));
      Serial.println(az);
    }
  }

  if (IMU.gyroscopeAvailable()) {
    IMU.readGyroscope(gx, gy, gz);
    if(DEBUG) {
      Serial.print(F("Gyro x: "));
      Serial.print(gx);
      Serial.print(F(" y: "));
      Serial.print(gy);
      Serial.print(F(" z: "));
      Serial.println(gz);
    }
  }

  if (APDS.gestureAvailable()) {
    // A gesture was detected, read and print to serial monitor
    switch (APDS.readGesture()) {
      case GESTURE_UP:
        Serial.println("Detected UP gesture");
        break;
      case GESTURE_DOWN:
        Serial.println("Detected DOWN gesture");
        break;
      case GESTURE_LEFT:
        Serial.println("Detected LEFT gesture");
        break;
      case GESTURE_RIGHT:
        Serial.println("Detected RIGHT gesture");
        break;
      default:
        // ignore
        break;
    }
  }

  if (dataFile) {
    counter += 1;
    String dataString = "";
    dataString += String(counter) + ",";
    dataString += String(ax) + ",";
    dataString += String(ay) + ",";
    dataString += String(az) + ",";
    dataString += String(gx) + ",";
    dataString += String(gy) + ",";
    dataString += String(gz) + ",";
    dataString += String(latitude) + ",";
    dataString += String(longitude) + ",";
    dataString += String(speed);
    dataFile.println(dataString);
  }
  
  delay(150); // Don't pound too hard
}