From 2c635f770dcc264eff2461c2e8d64a8ed5810ac8 Mon Sep 17 00:00:00 2001
From: FluffyCube9343 <learningninja007@gmail.com>
Date: Sun, 20 Mar 2022 16:25:20 -0400
Subject: [PATCH] Spi parsing works

---
 .../MPU6050_DMP6_v1.2/MPU6050_DMP6_v1.2.ino   |  10 +-
 communication/SPI/v0.5_M_SPI/M_SPI/M_SPI.ino  |   2 +-
 communication/SPI/v0.5_S_SPI/S_SPI/S_SPI.ino  |  33 +-
 .../v0.6_S_SPI_INTEGRATE.ino                  | 542 ++++++++++++++++++
 4 files changed, 571 insertions(+), 16 deletions(-)
 create mode 100644 communication/SPI/v0.6_S_SPI_INTEGRATE/v0.6_S_SPI_INTEGRATE.ino

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 <I2Cdev.h>
 
-#include "MPU6050_6Axis_MotionApps20.h"
-//#include "MPU6050.h" // not necessary if using MotionApps include file
+#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"
+    #include <Wire.h>
 #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 <jeff@rowberg.net>
+// 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<SPI.h>
+#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);
+   }
+        
+}