diff --git a/communication/IMU/MPU6050_DMP6_v1.2/MPU6050_DMP6_v1.2.ino b/communication/IMU/MPU6050_DMP6_v1.2/MPU6050_DMP6_v1.2.ino index c839d1d..b3b613d 100644 --- a/communication/IMU/MPU6050_DMP6_v1.2/MPU6050_DMP6_v1.2.ino +++ b/communication/IMU/MPU6050_DMP6_v1.2/MPU6050_DMP6_v1.2.ino @@ -46,15 +46,15 @@ THE SOFTWARE. // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files // for both classes must be in the include path of your project -#include "I2Cdev.h" +#include -#include "MPU6050_6Axis_MotionApps20.h" -//#include "MPU6050.h" // not necessary if using MotionApps include file +#include +#include // not necessary if using MotionApps include file // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation // is used in I2Cdev.h #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE - #include "Wire.h" + #include #endif // class default I2C address is 0x68 @@ -460,4 +460,4 @@ void loop() { blinkState = !blinkState; digitalWrite(LED_PIN, blinkState); } -} +} diff --git a/communication/SPI/v0.5_M_SPI/M_SPI/M_SPI.ino b/communication/SPI/v0.5_M_SPI/M_SPI/M_SPI.ino index a3c7183..2a3888b 100644 --- a/communication/SPI/v0.5_M_SPI/M_SPI/M_SPI.ino +++ b/communication/SPI/v0.5_M_SPI/M_SPI/M_SPI.ino @@ -35,5 +35,5 @@ void loop(void) Serial.print("\t"); Serial.println((char) Mastereceive); - delay(250); + delay(25); } diff --git a/communication/SPI/v0.5_S_SPI/S_SPI/S_SPI.ino b/communication/SPI/v0.5_S_SPI/S_SPI/S_SPI.ino index 94a6f24..7807d1e 100644 --- a/communication/SPI/v0.5_S_SPI/S_SPI/S_SPI.ino +++ b/communication/SPI/v0.5_S_SPI/S_SPI/S_SPI.ino @@ -12,9 +12,18 @@ volatile boolean received; volatile byte Slavereceived,Slavesend; int buttonvalue; int x = 65; -int wai = -1; -String t1 = "1.00 0.00 0.00 0.00"; -char Buf[32]; +int wai = -1; //I forgot what WAI stood for, but basically counts what index the counter is at, if the string was a list or smth +//-1 = at start +//0 to t1.length()-1 = data +//t1.length = at end +String t0 = "1.00 0.00 0.00 0.00"; +String t1 = "1.00 0.00 0.00 0.00"; //will be changed to actual data in code. +String t2 = "180.00 180.00 180.00 0.00"; +String t3 = "100.00 0.00 -4.00 0.07"; +String t4 = "thisisbaddatalmaothisshouldnotwork"; + + +char Buf[32]; int onset = 1; void setup() @@ -45,8 +54,11 @@ void loop() if (Slavereceived==8) { if(wai==-1 && t1.length()>18 && t1.length()<33){ + //accepting a new string of data t1.toCharArray(Buf,t1.length()); + } + //regular code -> bytewise. if(t1.length()>18 && t1.length()<33){ @@ -54,28 +66,29 @@ void loop() - + //detecting which byte the data reading is on the string. Serial.print(wai); - if(wai==t1.length()){x = 'e'; wai = -2; t1 = "wqieuroqwueyroqwueyroiweuqyrioqwueyrioqweuryoiqweuryoiqweurywq";} + if(wai==t1.length()){x = 'e'; wai = -2; }/*t1 = "wqieuroqwueyroqwueyroiweuqyrioqwueyrioqweuryoiqweuryoiqweurywq";}*/ //end data byte, -2 + 1 = -1, which accepts data. else{ - if(wai == -1){x = 's';} + if(wai == -1){x = 's';} //start byte else{ - x = t1[wai];} + x = t1[wai];} //actual data byte }} Slavesend=x; if(x==laste && x == (int) 'e'){ laste = x; - - x = 'b'; + //"bad" data byte + x = 'b'; //"if there was an end byte show that there is no data" } if(onset==1){ + //"onset" byte (to avoid data offsets with actual bytes. x = 'o'; wai--; onset = 0; } - laste = x; + laste = x; //"when was the last e" SPDR = Slavesend; SPDR = x;//Sends the x value to master via SPDR diff --git a/communication/SPI/v0.6_S_SPI_INTEGRATE/v0.6_S_SPI_INTEGRATE.ino b/communication/SPI/v0.6_S_SPI_INTEGRATE/v0.6_S_SPI_INTEGRATE.ino new file mode 100644 index 0000000..d33f3e9 --- /dev/null +++ b/communication/SPI/v0.6_S_SPI_INTEGRATE/v0.6_S_SPI_INTEGRATE.ino @@ -0,0 +1,542 @@ + // I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) +// 6/21/2012 by Jeff Rowberg +// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib +// +// Changelog: +// 2019-07-08 - Added Auto Calibration and offset generator +// - and altered FIFO retrieval sequence to avoid using blocking code +// 2016-04-18 - Eliminated a potential infinite loop +// 2013-05-08 - added seamless Fastwire support +// - added note about gyro calibration +// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error +// 2012-06-20 - improved FIFO overflow handling and simplified read process +// 2012-06-19 - completely rearranged DMP initialization code and simplification +// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly +// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING +// 2012-06-05 - add gravity-compensated initial reference frame acceleration output +// - add 3D math helper file to DMP6 example sketch +// - add Euler output and Yaw/Pitch/Roll output formats +// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee) +// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250 +// 2012-05-30 - basic DMP initialization working + +/* ============================================ +I2Cdev device library code is placed under the MIT license +Copyright (c) 2012 Jeff Rowberg + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. +=============================================== +*/ + +// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files +// for both classes must be in the include path of your project +int laste = 0; +#include +#define LEDpin 7 +#define buttonpin 2 +volatile boolean received; +volatile byte Slavereceived,Slavesend; +int buttonvalue; +int x = 65; +int wai = -1; //I forgot what WAI stood for, but basically counts what index the counter is at, if the string was a list or smth +//-1 = at start +//0 to t1.length()-1 = data +//t1.length = at end +String t0 = "1.00 0.00 0.00 0.00"; +String t1 = "1.00 0.00 0.00 0.00"; //will be changed to actual data in code. +#include "I2Cdev.h" + +#include "MPU6050_6Axis_MotionApps20.h" +//#include "MPU6050.h" // not necessary if using MotionApps include file + +// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation +// is used in I2Cdev.h +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + #include "Wire.h" +#endif + +// class default I2C address is 0x68 +// specific I2C addresses may be passed as a parameter here +// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board) +// AD0 high = 0x69 +MPU6050 mpu; +MPU6050 mpu2(0x69); // <-- use for AD0 high + +char Buf[32]; +int onset = 1; +/* ========================================================================= + NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch + depends on the MPU-6050's INT pin being connected to the Arduino's + external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is + digital I/O pin 2. + * ========================================================================= */ + +/* ========================================================================= + NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error + when using Serial.write(buf, len). The Teapot output uses this method. + The solution requires a modification to the Arduino USBAPI.h file, which + is fortunately simple, but annoying. This will be fixed in the next IDE + release. For more info, see these links: + + http://arduino.cc/forum/index.php/topic,109987.0.html + http://code.google.com/p/arduino/issues/detail?id=958 + * ========================================================================= */ + + + +// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual +// quaternion components in a [w, x, y, z] format (not best for parsing +// on a remote host such as Processing or something though) +#define OUTPUT_READABLE_QUATERNION + +// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles +// (in degrees) calculated from the quaternions coming from the FIFO. +// Note that Euler angles suffer from gimbal lock (for more info, see +// http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_EULER + +// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/ +// pitch/roll angles (in degrees) calculated from the quaternions coming +// from the FIFO. Note this also requires gravity vector calculations. +// Also note that yaw/pitch/roll angles suffer from gimbal lock (for +// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock) +//#define OUTPUT_READABLE_YAWPITCHROLL + +// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration +// components with gravity removed. This acceleration reference frame is +// not compensated for orientation, so +X is always +X according to the +// sensor, just without the effects of gravity. If you want acceleration +// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead. +//#define OUTPUT_READABLE_REALACCEL + +// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration +// components with gravity removed and adjusted for the world frame of +// reference (yaw is relative to initial orientation, since no magnetometer +// is present in this case). Could be quite handy in some cases. +//#define OUTPUT_READABLE_WORLDACCEL + +// uncomment "OUTPUT_TEAPOT" if you want output that matches the +// format used for the InvenSense teapot demo +//#define OUTPUT_TEAPOT + + + +#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards +#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6) +bool blinkState = false; + +// MPU control/status vars +bool dmpReady = false; // set true if DMP init was successful +uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU + +uint8_t mpu2IntStatus; // holds actual interrupt status byte from MPU +uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) + +uint8_t devStatus2; // return status after each device operation (0 = success, !0 = error) +uint16_t packetSize; // expected DMP packet size (default is 42 bytes) + +uint16_t packetSize2; // expected DMP packet size (default is 42 bytes) +uint16_t fifoCount; // count of all bytes currently in FIFO +uint8_t fifoBuffer[64]; // FIFO storage buffer + +uint16_t fifoCount2; // count of all bytes currently in FIFO +uint8_t fifoBuffer2[64]; // FIFO storage buffer + +// orientation/motion vars +Quaternion q; // [w, x, y, z] quaternion container +VectorInt16 aa; // [x, y, z] accel sensor measurements +VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements +VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements +VectorFloat gravity; // [x, y, z] gravity vector +float euler[3]; // [psi, theta, phi] Euler angle container +float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector + +float ypr2[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector +// packet structure for InvenSense teapot demo +uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; + + + +// ================================================================ +// === INTERRUPT DETECTION ROUTINE === +// ================================================================ + +volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high +void dmpDataReady() { + mpuInterrupt = true; +} + + + +// ================================================================ +// === INITIAL SETUP === +// ================================================================ + +void setup() { + // join I2C bus (I2Cdev library doesn't do this automatically) + #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE + Wire.begin(); + Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties + #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE + Fastwire::setup(400, true); + #endif + + // initialize serial communication + // (115200 chosen because it is required for Teapot Demo output, but it's + // really up to you depending on your project) + Serial.begin(115200); + while (!Serial); // wait for Leonardo enumeration, others continue immediately + + // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino + // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to + // the baud timing being too misaligned with processor ticks. You must use + // 38400 or slower in these cases, or use some kind of external separate + // crystal solution for the UART timer. + + // initialize device + Serial.println(F("Initializing I2C devices...")); + mpu.initialize(); + + mpu2.initialize(); + pinMode(INTERRUPT_PIN, INPUT); + + // verify connection + Serial.println(F("Testing device connections...")); + Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed")); + + Serial.println(mpu2.testConnection() ? F("MPU6050 #2 connection successful") : F("MPU6050 #2 connection failed")); + + // wait for ready + Serial.println(F("\nSend any character to begin DMP programming and demo: ")); + while (Serial.available() && Serial.read()); // empty buffer + while (!Serial.available()); // wait for data + while (Serial.available() && Serial.read()); // empty buffer again + + // load and configure the DMP + Serial.println(F("Initializing DMP...")); + devStatus = mpu.dmpInitialize(); + + devStatus = mpu2.dmpInitialize(); + + // supply your own gyro offsets here, scaled for min sensitivity + mpu.setXGyroOffset(220); + mpu.setYGyroOffset(76); + mpu.setZGyroOffset(-85); + mpu.setZAccelOffset(1788); // 1688 factory default for my test chip + + mpu2.setXGyroOffset(220); + mpu2.setYGyroOffset(76); + mpu2.setZGyroOffset(-85); + mpu2.setZAccelOffset(1788); // 1688 factory default for my test chip + + // make sure it worked (returns 0 if so) + if (devStatus == 0 and devStatus2 == 0) { + // Calibration Time: generate offsets and calibrate our MPU6050 + mpu.CalibrateAccel(6); + mpu.CalibrateGyro(6); + mpu.PrintActiveOffsets(); + // turn on the DMP, now that it's ready + Serial.println(F("Enabling DMP...")); + mpu.setDMPEnabled(true); + + mpu2.CalibrateAccel(6); + mpu2.CalibrateGyro(6); + mpu2.PrintActiveOffsets(); + // turn on the DMP, now that it's ready + Serial.println(F("Enabling DMP on 0x69...")); + mpu2.setDMPEnabled(true); + + // enable Arduino interrupt detection + Serial.print(F("Enabling interrupt detection (Arduino external interrupt ")); + Serial.print(digitalPinToInterrupt(INTERRUPT_PIN)); + Serial.println(F(")...")); + attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING); + mpuIntStatus = mpu.getIntStatus(); + mpu2IntStatus = mpu.getIntStatus(); + // set our DMP Ready flag so the main loop() function knows it's okay to use it + Serial.println(F("DMP ready! Waiting for first interrupt...")); + dmpReady = true; + + // get expected DMP packet size for later comparison + packetSize = mpu.dmpGetFIFOPacketSize(); + + packetSize2 = mpu.dmpGetFIFOPacketSize(); + } else { + // ERROR! + // 1 = initial memory load failed + // 2 = DMP configuration updates failed + // (if it's going to break, usually the code will be 1) + Serial.print(F("DMP Initialization failed (code ")); + Serial.print(devStatus); + Serial.println(F(")")); + } + + // configure LED for output + pinMode(LED_PIN, OUTPUT); + pinMode(buttonpin,INPUT); // Setting pin 2 as INPUT + pinMode(LEDpin,OUTPUT); // Setting pin 7 as OUTPUT + pinMode(MISO,OUTPUT); //Sets MISO as OUTPUT (Have to Send data to Master IN + + SPCR |= _BV(SPE); //Turn on SPI in Slave Mode + received = false; + + SPI.attachInterrupt(); //Interuupt ON is set for SPI commnucation + Serial.println("SPI set up!"); +} + +ISR (SPI_STC_vect) //Inerrrput routine function +{ + Slavereceived = SPDR; // Value received from master if store in variable slavereceived + received = true; //Sets received as True +} + +// ================================================================ +// === MAIN PROGRAM LOOP === +// ================================================================ + +void loop() { + // if programming failed, don't try to do anything + if (!dmpReady) return; + // read a packet from FIFO + if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet + #ifdef OUTPUT_READABLE_QUATERNION + // display quaternion values in easy matrix form: w x y z + mpu.dmpGetQuaternion(&q, fifoBuffer); + Serial.print("quat\t"); + Serial.print(q.w); + Serial.print("\t"); + Serial.print(q.x); + Serial.print("\t"); + Serial.print(q.y); + Serial.print("\t"); + Serial.println(q.z); + t1 = String(q.w)+" "+String(q.x)+" "+String(q.y)+" "+String(q.z); + #endif + + #ifdef OUTPUT_READABLE_EULER + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetEuler(euler, &q); + Serial.print("euler\t"); + Serial.print(euler[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(euler[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(euler[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_YAWPITCHROLL + // display Euler angles in degrees + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetYawPitchRoll(ypr, &q, &gravity); + Serial.print("ypr\t"); + Serial.print(ypr[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(ypr[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(ypr[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_REALACCEL + // display real acceleration, adjusted to remove gravity + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + Serial.print("areal\t"); + Serial.print(aaReal.x); + Serial.print("\t"); + Serial.print(aaReal.y); + Serial.print("\t"); + Serial.println(aaReal.z); + #endif + + #ifdef OUTPUT_READABLE_WORLDACCEL + // display initial world-frame acceleration, adjusted to remove gravity + // and rotated based on known orientation from quaternion + mpu.dmpGetQuaternion(&q, fifoBuffer); + mpu.dmpGetAccel(&aa, fifoBuffer); + mpu.dmpGetGravity(&gravity, &q); + mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); + mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); + Serial.print("aworld\t"); + Serial.print(aaWorld.x); + Serial.print("\t"); + Serial.print(aaWorld.y); + Serial.print("\t"); + Serial.println(aaWorld.z); + #endif + + #ifdef OUTPUT_TEAPOT + // display quaternion values in InvenSense Teapot demo format: + teapotPacket[2] = fifoBuffer[0]; + teapotPacket[3] = fifoBuffer[1]; + teapotPacket[4] = fifoBuffer[4]; + teapotPacket[5] = fifoBuffer[5]; + teapotPacket[6] = fifoBuffer[8]; + teapotPacket[7] = fifoBuffer[9]; + teapotPacket[8] = fifoBuffer[12]; + teapotPacket[9] = fifoBuffer[13]; + Serial.write(teapotPacket, 14); + teapotPacket[11]++; // packetCount, loops at 0xFF on purpose + #endif + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + } + // read a packet from 2nd mpu FIFO + if (mpu2.dmpGetCurrentFIFOPacket(fifoBuffer2)) { // Get the Latest packet + #ifdef OUTPUT_READABLE_QUATERNION + // display quaternion values in easy matrix form: w x y z + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + Serial.print("quat2\t"); + Serial.print(q.w); + Serial.print("\t"); + Serial.print(q.x); + Serial.print("\t"); + Serial.print(q.y); + Serial.print("\t"); + Serial.println(q.z); + #endif + + #ifdef OUTPUT_READABLE_EULER + // display Euler angles in degrees + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetEuler(euler, &q); + Serial.print("euler2\t"); + Serial.print(euler[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(euler[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(euler[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_YAWPITCHROLL + // display Euler angles in degrees + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetGravity(&gravity, &q); + mpu2.dmpGetYawPitchRoll(ypr, &q, &gravity); + Serial.print("ypr2\t"); + Serial.print(ypr[0] * 180/M_PI); + Serial.print("\t"); + Serial.print(ypr[1] * 180/M_PI); + Serial.print("\t"); + Serial.println(ypr[2] * 180/M_PI); + #endif + + #ifdef OUTPUT_READABLE_REALACCEL + // display real acceleration, adjusted to remove gravity + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetAccel(&aa, fifoBuffer2); + mpu2.dmpGetGravity(&gravity, &q); + mpu2.dmpGetLinearAccel(&aaReal, &aa, &gravity); + Serial.print("areal2\t"); + Serial.print(aaReal.x); + Serial.print("\t"); + Serial.print(aaReal.y); + Serial.print("\t"); + Serial.println(aaReal.z); + #endif + + #ifdef OUTPUT_READABLE_WORLDACCEL + // display initial world-frame acceleration, adjusted to remove gravity + // and rotated based on known orientation from quaternion + mpu2.dmpGetQuaternion(&q, fifoBuffer2); + mpu2.dmpGetAccel(&aa, fifoBuffer2); + mpu2.dmpGetGravity(&gravity, &q); + mpu2.dmpGetLinearAccel(&aaReal, &aa, &gravity); + mpu2.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); + Serial.print("aworld2\t"); + Serial.print(aaWorld.x); + Serial.print("\t"); + Serial.print(aaWorld.y); + Serial.print("\t"); + Serial.println(aaWorld.z); + #endif + + #ifdef OUTPUT_TEAPOT + // display quaternion values in InvenSense Teapot demo format: + teapotPacket[2] = fifoBuffer2[0]; + teapotPacket[3] = fifoBuffer2[1]; + teapotPacket[4] = fifoBuffer2[4]; + teapotPacket[5] = fifoBuffer2[5]; + teapotPacket[6] = fifoBuffer2[8]; + teapotPacket[7] = fifoBuffer2[9]; + teapotPacket[8] = fifoBuffer2[12]; + teapotPacket[9] = fifoBuffer2[13]; + Serial.write(teapotPacket, 14); + teapotPacket[11]++; // packetCount, loops at 0xFF on purpose + #endif + + // blink LED to indicate activity + blinkState = !blinkState; + digitalWrite(LED_PIN, blinkState); + } + if(received) //Logic to SET LED ON OR OFF depending upon the value recerived from master + { + if (Slavereceived==8) + { + if(wai==-1 && t1.length()>18 && t1.length()<33){ + //accepting a new string of data + t1.toCharArray(Buf,t1.length()); + + } + //regular code -> bytewise. + if(t1.length()>18 && t1.length()<33){ + + + + + + + //detecting which byte the data reading is on the string. + Serial.print(wai); + if(wai==t1.length()){x = 'e'; wai = -2; }/*t1 = "wqieuroqwueyroqwueyroiweuqyrioqwueyrioqweuryoiqweuryoiqweurywq";}*/ //end data byte, -2 + 1 = -1, which accepts data. + else{ + if(wai == -1){x = 's';} //start byte + + else{ + x = t1[wai];} //actual data byte + }} + + Slavesend=x; + if(x==laste && x == (int) 'e'){ + laste = x; + //"bad" data byte + x = 'b'; //"if there was an end byte show that there is no data" + } + if(onset==1){ + //"onset" byte (to avoid data offsets with actual bytes. + x = 'o'; + wai--; + onset = 0; + } + laste = x; //"when was the last e" + + SPDR = Slavesend; + SPDR = x;//Sends the x value to master via SPDR + wai++; + + } + delay(15); + } + +}