BeYourHero/Arduino/Module_MPU6050_BT_V8/Module_MPU6050_BT_V8.ino

901 lines
31 KiB
C++

#include <Wire.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#define MPU_ADDR 0x68
#define MEM_START_ADDR 0x6E
#define MEM_R_W 0x6F
#define NODE_NUMBER 1
#include <SPI.h> //Call SPI library so you can communicate with the nRF24L01+
#include <nRF24L01.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
#include <RF24.h> //nRF2401 libarary found at https://github.com/tmrh20/RF24/
const int pinCE = 3; //This pin is used to set the nRF24 to standby (0) or active mode (1)
const int pinCSN = 10; //This pin is used to tell the nRF24 whether the SPI communication is a command or message to send out
byte counter = 1; //used to count the packets sent
bool done = false; //used to know when to stop sending packets
RF24 wirelessSPI(pinCE, pinCSN); // Create your nRF24 object or wireless SPI connection
#if NODE_NUMBER == 1
const uint64_t wAddress = 0xB00B1E50D6LL; // Pipe to write or transmit on
const uint64_t rAddress = 0xB00B1E50B5LL; //pipe to recive data on
#endif
#if NODE_NUMBER == 2
const uint64_t wAddress = 0xB00B1E50D2LL; // Pipe to write or transmit on
const uint64_t rAddress = 0xB00B1E50B1LL; //pipe to recive data on
#endif
#if NODE_NUMBER == 3
const uint64_t wAddress = 0xB00B1E50A6LL;
const uint64_t rAddress = 0xB00B1E50A8LL;
#endif
#if NODE_NUMBER == 4
const uint64_t wAddress = 0xB00B1E50A0LL;
const uint64_t rAddress = 0xB00B1E50A1LL;
#endif
// Variable to read the sensor
long lastRead = 0;
byte processed_packet[8];
byte received_packet[50];
byte temp = 0;
byte fifoCountL = 0;
byte fifoCountL2 = 0;
//byte packetCount = 0x00;
boolean longPacket = false;
boolean firstPacket = true;
// Variable for bluetooth transmission
unsigned char tx_data[4];
unsigned char rx_data;
int flag_calibration = 0;
// Variable for Quaternion an Euler calculation
float q[4]; // QUaternion received
float q2[4];
float hq[4]; // Quaternion Qualibration reference
float Euler[3]; // The three Euler angle calculated from Quaternion
unsigned const char dmpMem[8][16][16] PROGMEM = {
{
{0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00},
{0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01},
{0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01},
{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00},
{0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00},
{0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82},
{0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00},
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0},
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC},
{0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4},
{0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10}
},
{
{0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00},
{0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8},
{0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7},
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C},
{0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C},
{0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0}
},
{
{0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00},
{0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
},
{
{0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F},
{0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2},
{0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF},
{0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C},
{0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1},
{0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01},
{0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80},
{0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C},
{0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80},
{0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E},
{0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9},
{0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24},
{0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0},
{0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86},
{0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1},
{0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86}
},
{
{0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA},
{0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C},
{0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8},
{0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3},
{0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84},
{0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5},
{0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3},
{0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1},
{0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5},
{0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D},
{0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
{0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D},
{0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
{0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A},
{0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8},
{0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87}
},
{
{0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8},
{0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68},
{0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D},
{0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94},
{0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA},
{0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56},
{0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9},
{0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA},
{0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A},
{0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60},
{0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97},
{0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04},
{0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78},
{0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79},
{0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68},
{0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68}
},
{
{0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04},
{0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66},
{0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31},
{0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60},
{0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76},
{0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56},
{0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD},
{0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91},
{0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8},
{0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE},
{0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9},
{0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD},
{0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E},
{0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8},
{0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89},
{0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79}
},
{
{0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8},
{0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA},
{0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB},
{0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3},
{0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3},
{0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3},
{0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3},
{0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC},
{0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF}
}
};
//DMP update transmissions (Bank, Start Address, Update Length, Update Data...)
static byte dmp_updates[29][9] =
{
{
0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C
} //FCFG_1 inv_set_gyro_calibration
,
{
0x03, 0xAB, 0x03, 0x36, 0x56, 0x76
} //FCFG_3 inv_set_gyro_calibration
,
{
0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2
} //D_0_104 inv_set_gyro_calibration
,
{
0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1
} //D_0_24 inv_set_gyro_calibration
,
{
0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00
} //D_1_152 inv_set_accel_calibration
,
{
0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97
} //FCFG_2 inv_set_accel_calibration
,
{
0x03, 0x89, 0x03, 0x26, 0x46, 0x66
} //FCFG_7 inv_set_accel_calibration
,
{
0x00, 0x6C, 0x02, 0x20, 0x00
} //D_0_108 inv_set_accel_calibration
,
{
0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00
} //CPASS_MTX_00 inv_set_compass_calibration
,
{
0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00
} //CPASS_MTX_01
,
{
0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00
} //CPASS_MTX_02
,
{
0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00
} //CPASS_MTX_10
,
{
0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00
} //CPASS_MTX_11
,
{
0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00
} //CPASS_MTX_12
,
{
0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00
} //CPASS_MTX_20
,
{
0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00
} //CPASS_MTX_21
,
{
0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00
} //CPASS_MTX_22
,
{
0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00
} //D_1_236 inv_apply_endian_accel
,
{
0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97
} //FCFG_2 inv_set_mpu_sensors
,
{
0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D
} //CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
,
{
0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D
} //FCFG_5 inv_set_bias_update
,
{
0x00, 0xA3, 0x01, 0x00
} //D_0_163 inv_set_dead_zone
,
//SET INT_ENABLE at i=22
{
0x07, 0x86, 0x01, 0xFE
} //CFG_6 inv_set_fifo_interupt
,
{
0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38
} //CFG_8 inv_send_quaternion
,
{
0x07, 0x7E, 0x01, 0x30
} //CFG_16 inv_set_footer
,
{
0x07, 0x46, 0x01, 0x9A
} //CFG_GYRO_SOURCE inv_send_gyro
,
{
0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38
} //CFG_9 inv_send_gyro -> inv_construct3_fifo
,
{
0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38
} //CFG_12 inv_send_accel -> inv_construct3_fifo
,
{
0x02, 0x16, 0x02, 0x00, 0x0A
} //D_0_22 inv_set_fifo_rate
};
void setup() {
Serial.begin(9600); //start serial to communicate process
wirelessSPI.begin(); //Start the nRF24 module
wirelessSPI.openWritingPipe(wAddress); //open writing or transmit pipe
wirelessSPI.openReadingPipe(1, rAddress); //open reading or recieve pipe
wirelessSPI.stopListening(); //go into transmit mode
Wire.begin();
delay(1);
check_MPU();
//Serial.println("MPU-6050 6-Axis");
regWrite(0x6B, 0xC0);
regWrite(0x6C, 0x00);
delay(10);
//regWrite(0x6B, 0x70);
regWrite(0x6B, 0x00);
regWrite(0x6D, 0x70);
regWrite(0x6E, 0x06);
temp = regRead(0x6F);
//Serial.print("Bank 1, Reg 6 = ");
//Serial.println(temp, HEX);
// temp = regRead(0x6B);
// Serial.println(temp, HEX);
regWrite(0x6D, 0x00);
temp = regRead(0x00);
//Serial.println(temp, HEX);
temp = regRead(0x01);
//Serial.println(temp, HEX);
temp = regRead(0x02);
//Serial.println(temp, HEX);
temp = regRead(0x6A);
//Serial.println(temp, HEX);
regWrite(0x37, 0x32);
temp = regRead(0x6B);
//Serial.println(temp, HEX);
delay(5);
// regWrite(0x25, 0x68); //Set Slave 0 to self
//
// regWrite(0x6A, 0x02);
mem_init();
delay(20);
}
void loop() {
// =========================================================
// This part is from the DOF sensor exemple
if (millis() >= lastRead + 1) {
lastRead = millis();
int toto = fifoReady();
if ( toto == 1) {
getPacket();
temp = regRead(0x3A);
if (firstPacket) {
delay(1);
bank_sel(0x00);
regWrite(0x6E, 0x60);
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x6F);
Wire.write(0x04); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
// Wire.write(0x00); Wire.write(0x80); Wire.write(0x00); Wire.write(0x00);
Wire.endTransmission();
bank_sel(1);
regWrite(0x6E, 0x62);
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x6F);
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.requestFrom(MPU_ADDR, 2);
temp = Wire.read();
temp = Wire.read();
firstPacket = false;
fifoReady();
}
// resetFifo();
// =====================================================
// If the fifo count is good, enter the function to transform Quaternions to
// Euler, send the Bluetooth data, and read Bluetooth for recalibration.
if (fifoCountL == 42) {
processQuat();
sendQuat();
if (flag_calibration == 1) { // use home quaternion
//Serial.println("HQ Activate");
quatProd(hq, q);
quaternionToEuler(q2, Euler);
print_data(); // use the print data for debugging purposes is you have a Serial port
}
else {
quaternionToEuler(q, Euler);
}
pack_data(); // Function to pack and store the data into tx_data[] for Bluetooth
if (!wirelessSPI.write( &tx_data, 4 )) {
Serial.println("Guess delivery failed");
}
else {
Serial.println("Success sending guess: ");
}
// ================================================================
// This part read shortly the bluetooth in case a recalibration message is send from the central
wirelessSPI.startListening();
rx_data = '0';
for (int i = 0; i < 10; i++) {
if (!wirelessSPI.available()) {
delayMicroseconds(100);
}
else {
wirelessSPI.read( &rx_data, 1); //read value
}
}
if (rx_data == '1') {
Serial.println("Calibration OK");
quatConjugate(q); // store the Quaternions into reference Quaternion hq[]
flag_calibration = 1; // Flag to use the qualibration
}
wirelessSPI.stopListening(); //go back to transmit mode
}
}
}
delay(10);
}
void pack_data() {
int tmp0 = Euler[0] * 100;
int tmp1 = Euler[1] * 100;
int tmp2 = Euler[2] * 100;
tmp0 = map(tmp0, -320, 320, 0, 255);
tmp1 = map(tmp1, -320, 320, 0, 255);
tmp2 = map(tmp2, -320, 320, 0, 255);
tx_data[0] = tmp0;
tx_data[1] = tmp1;
tx_data[2] = tmp2;
// tx_data[3] is empty. So we can add the buttons action in this byte
}
void print_data() {
Serial.print(" HQ : ");
Serial.print(hq[0], 3);
Serial.print(" --- ");
Serial.print(hq[1], 3);
Serial.print(" --- ");
Serial.print(hq[2], 3);
Serial.print(" --- ");
Serial.print(hq[3], 3);
Serial.print(" Q : ");
Serial.print(q[0], 3);
Serial.print(" --- ");
Serial.print(q[1], 3);
Serial.print(" --- ");
Serial.print(q[2], 3);
Serial.print(" --- ");
Serial.print(q[3], 3);
Serial.print(" Euler : ");
Serial.print(Euler[0], 3);
Serial.print(" --- ");
Serial.print(Euler[1], 3);
Serial.print(" --- ");
Serial.print(Euler[2], 3);
Serial.println();
}
void check_MPU() {
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x75);
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.requestFrom(MPU_ADDR, 1);
byte aByte = Wire.read();
// Wire.endTransmission();
// while(Wire.available() == 0){
// }
// byte temp = Wire.read();
// Serial.println(temp);
if (aByte == 0x68) {
//Serial.println("Found MPU6050");
}
else {
Serial.println("Didn't find MPU6050");
}
}
void processQuat() {
processed_packet[0] = received_packet[0];
processed_packet[1] = received_packet[1];
processed_packet[2] = received_packet[4];
processed_packet[3] = received_packet[5];
processed_packet[4] = received_packet[8];
processed_packet[5] = received_packet[9];
processed_packet[6] = received_packet[12];
processed_packet[7] = received_packet[13];
}
void sendQuat() {
// following conversion adapted from Invensense's TeaPot example
q[0] = (long) ((((unsigned long) processed_packet[0]) << 8) + ((unsigned long) processed_packet[1]));
q[1] = (long) ((((unsigned long) processed_packet[2]) << 8) + ((unsigned long) processed_packet[3]));
q[2] = (long) ((((unsigned long) processed_packet[4]) << 8) + ((unsigned long) processed_packet[5]));
q[3] = (long) ((((unsigned long) processed_packet[6]) << 8) + ((unsigned long) processed_packet[7]));
for (int i = 0; i < 4; i++ ) {
if ( q[i] > 32767 ) {
q[i] -= 65536;
}
q[i] = ((float) q[i]) / 16384.0f;
}
}
void quaternionToEuler(float q[4], float euler[3]) {
euler[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0] * q[0] + 2 * q[1] * q[1] - 1); // psi
euler[1] = -asin(2 * q[1] * q[3] + 2 * q[0] * q[2]); // theta
euler[2] = atan2(2 * q[2] * q[3] - 2 * q[0] * q[1], 2 * q[0] * q[0] + 2 * q[3] * q[3] - 1); // phi
}
void quatProd(float a[4], float b[4]) {
q2[0] = a[0] * b[0] - a[1] * b[1] - a[2] * b[2] - a[3] * b[3];
q2[1] = a[0] * b[1] + a[1] * b[0] + a[2] * b[3] - a[3] * b[2];
q2[2] = a[0] * b[2] - a[1] * b[3] + a[2] * b[0] + a[3] * b[1];
q2[3] = a[0] * b[3] + a[1] * b[2] - a[2] * b[1] + a[3] * b[0];
}
void quatConjugate(float quat[]) {
hq[0] = quat[0];
hq[1] = -quat[1];
hq[2] = -quat[2];
hq[3] = -quat[3];
//return conj;
}
void bank_sel(byte bank) {
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x6D);
Wire.write(bank);
Wire.endTransmission();
}
void dmp_init() {
for (int i = 0; i < 7; i++) {
bank_sel(i);
for (byte j = 0; j < 16; j++) {
byte start_addy = j * 0x10;
Wire.beginTransmission(MPU_ADDR);
Wire.write(MEM_START_ADDR);
Wire.write(start_addy);
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.write(MEM_R_W);
for (int k = 0; k < 16; k++) {
unsigned char byteToSend = pgm_read_byte(&(dmpMem[i][j][k]));
Wire.write((byte) byteToSend);
}
Wire.endTransmission();
}
// Wire.beginTransmission(MPU_ADDR);
// Wire.write(MEM_R_W);
// Wire.endTransmission();
// Wire.requestFrom(MPU_ADDR, 16);
// byte echoback[16];
// for(int j = 0; j < 16; j++){
// echoback[j] = Wire.read();
// }
// for(int j = 0; j < 16; j++){
// Serial.print(echoback[j], HEX);
// }
}
bank_sel(7);
for (byte j = 0; j < 8; j++) {
byte start_addy = j * 0x10;
Wire.beginTransmission(MPU_ADDR);
Wire.write(MEM_START_ADDR);
Wire.write(start_addy);
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.write(MEM_R_W);
for (int k = 0; k < 16; k++) {
unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][j][k]));
Wire.write((byte) byteToSend);
}
Wire.endTransmission();
}
Wire.beginTransmission(MPU_ADDR);
Wire.write(MEM_START_ADDR);
Wire.write(0x80);
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.write(MEM_R_W);
for (int k = 0; k < 9; k++) {
unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][8][k]));
Wire.write((byte) byteToSend);
}
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.write(MEM_R_W);
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.requestFrom(MPU_ADDR, 9);
// Wire.endTransmission();
byte incoming[9];
for (int i = 0; i < 9; i++) {
incoming[i] = Wire.read();
}
}
void mem_init() {
dmp_init();
for (byte i = 0; i < 22; i++) {
bank_sel(dmp_updates[i][0]);
Wire.beginTransmission(MPU_ADDR);
Wire.write(MEM_START_ADDR);
Wire.write(dmp_updates[i][1]);
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.write(MEM_R_W);
for (byte j = 0; j < dmp_updates[i][2]; j++) {
Wire.write(dmp_updates[i][j + 3]);
}
Wire.endTransmission();
}
regWrite(0x38, 0x32);
for (byte i = 22; i < 29; i++) {
bank_sel(dmp_updates[i][0]);
Wire.beginTransmission(MPU_ADDR);
Wire.write(MEM_START_ADDR);
Wire.write(dmp_updates[i][1]);
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.write(MEM_R_W);
for (byte j = 0; j < dmp_updates[i][2]; j++) {
Wire.write(dmp_updates[i][j + 3]);
}
Wire.endTransmission();
}
temp = regRead(0x6B);
//Serial.println(temp, HEX);
temp = regRead(0x6C);
//Serial.println(temp, HEX);
regWrite(0x38, 0x02);
regWrite(0x6B, 0x03);
// regWrite(0x6B, 0x70);
// regWrite(0x38, 0x38);
// regWrite(0x6B, 0x73);
regWrite(0x19, 0x04);
regWrite(0x1B, 0x18);
regWrite(0x1A, 0x0B);
regWrite(0x70, 0x03);
regWrite(0x71, 0x00);
regWrite(0x00, 0x00);
regWrite(0x01, 0x00);
regWrite(0x02, 0x00);
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x13);
for (byte i = 0; i < 6; i++) {
Wire.write(0x00);
}
Wire.endTransmission();
// regWrite(0x24, 0x00);
bank_sel(0x01);
regWrite(0x6E, 0xB2);
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x6F);
Wire.write(0xFF); Wire.write(0xFF);
Wire.endTransmission();
bank_sel(0x01);
regWrite(0x6E, 0x90);
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x6F);
Wire.write(0x09); Wire.write(0x23); Wire.write(0xA1); Wire.write(0x35);
Wire.endTransmission();
temp = regRead(0x6A);
regWrite(0x6A, 0x04);
//Insert FIFO count read?
fifoReady();
regWrite(0x6A, 0x00);
regWrite(0x6B, 0x03);
delay(2);
temp = regRead(0x6C);
// Serial.println(temp, HEX);
regWrite(0x6C, 0x00);
temp = regRead(0x1C);
// Serial.println(temp, HEX);
regWrite(0x1C, 0x00);
delay(2);
temp = regRead(0x6B);
// Serial.println(temp, HEX);
regWrite(0x1F, 0x02);
regWrite(0x21, 0x9C);
regWrite(0x20, 0x50);
regWrite(0x22, 0x00);
regWrite(0x6A, 0x04);
regWrite(0x6A, 0x00);
regWrite(0x6A, 0xC8);
bank_sel(0x01);
regWrite(0x6E, 0x6A);
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x6F);
Wire.write(0x06); Wire.write(0x00);
Wire.endTransmission();
bank_sel(0x01);
regWrite(0x6E, 0x60);
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x6F);
for (byte i = 0; i < 8; i++) {
Wire.write(0x00);
}
Wire.endTransmission();
// bank_sel(0x01);
// regWrite(0x6E, 0x60);
// Wire.beginTransmission(MPU_ADDR);
// Wire.write(0x6F);
// Wire.write(0x04); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
// Wire.endTransmission();
bank_sel(0x00);
regWrite(0x6E, 0x60);
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x6F);
Wire.write(0x40); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
Wire.endTransmission();
//resetFifo();
}
void regWrite(byte addy, byte regUpdate) {
Wire.beginTransmission(MPU_ADDR);
Wire.write(addy);
Wire.write(regUpdate);
Wire.endTransmission();
}
byte regRead(byte addy) {
Wire.beginTransmission(MPU_ADDR);
Wire.write(addy);
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.requestFrom(MPU_ADDR, 1);
// Wire.endTransmission();
while (!Wire.available()) {
}
byte incoming = Wire.read();
return incoming;
}
void getPacket() {
if (fifoCountL > 32) {
fifoCountL2 = fifoCountL - 32;
longPacket = true;
}
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x74);
Wire.endTransmission();
// Wire.requestFrom(MPU_ADDR, 42);
// for(byte i = 0; i < fifoCountL; i++){
if (longPacket) {
Wire.beginTransmission(MPU_ADDR);
Wire.requestFrom(MPU_ADDR, 32);
for (byte i = 0; i < 32; i++) {
received_packet[i] = Wire.read();
}
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x74);
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL2);
for (byte i = 32; i < fifoCountL; i++) {
received_packet[i] = Wire.read();
}
longPacket = false;
}
else {
Wire.beginTransmission(MPU_ADDR);
Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL);
for (byte i = 0; i < fifoCountL; i++) {
received_packet[i] = Wire.read();
}
}
}
byte read_interrupt() {
byte int_status = regRead(0x3A);
return int_status;
}
boolean fifoReady() {
Wire.beginTransmission(MPU_ADDR);
Wire.write(0x72);
Wire.endTransmission();
Wire.beginTransmission(MPU_ADDR);
Wire.requestFrom(MPU_ADDR, 2);
// Wire.endTransmission();
byte fifoCountH = Wire.read();
fifoCountL = Wire.read();
//Serial.print("fifoCount :");
//Serial.println(fifoCountL, DEC);
if (fifoCountL == 42 || fifoCountL == 44) {
return 1;
}
else if (fifoCountL != 0) {
resetFifo();
}
// else if(fifoCountL == 42){
// getPacket();
// bank_sel(0);
// regWrite(0x6E, 0x60);
// Wire.beginTransmission(MPU_ADDR);
// Wire.write(0x40); Wire.write(0x00); Wire.write (0x00); Wire.write(0x00);
// Wire.endTransmission();
// resetFifo();
// }
// if(Wire.read() == 0x2C){
// return 1;
// }
else return 0;
}
void resetFifo() {
byte ctrl = regRead(0x6A);
ctrl |= 0b00000100;
regWrite(0x6A, ctrl);
}