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#include <Wire.h>
#include "SPI.h"
#include "font.h"
#include "lcd8x8rgb.h"
#include <Adafruit_SleepyDog.h>
#define VLEDEN 17
#define LATCH 11
#define VCARDEN 10
#define VUEXT1EN 9
#define VUEXT2EN 8
//Chip Selects:
#define CS1 13 //UEXT1 SPI CS
#define CS2 5 //UEXT2 SPI CS
#define CSC A3 //CARD CS
#define DAC0 A2
#define DAC1 A1
#define DAC2 A0
#define VBAT A5
#define CDET 7
#define PON LOW
#define POFF HIGH
//Chip Selects:
#define CS1_LOW digitalWrite(CS1,LOW)
#define CS2_LOW digitalWrite(CS2,LOW)
#define CSC_LOW digitalWrite(CSC,LOW)
#define CS1_HIGH digitalWrite(CS1,HIGH)
#define CS2_HIGH digitalWrite(CS2,HIGH)
#define CSC_HIGH digitalWrite(CSC,HIGH)
#define VLED_OFF digitalWrite(VLEDEN, HIGH) //POWER OFF LEDS 5V
#define VUEXT1_OFF digitalWrite(VUEXT1EN, HIGH) //POWER OFF UEXT1 3.3V
#define VUEXT2_OFF digitalWrite(VUEXT2EN, HIGH) //POWER OFF UEXT2 3.3V
#define VCARD_OFF digitalWrite(VCARDEN, HIGH) //POWER OFF SDCARD 3.3V
#define VLED_ON digitalWrite(VLEDEN, LOW) //POWER ON LEDS 5V
#define VUEXT1_ON digitalWrite(VUEXT1EN, LOW) //POWER ON UEXT1 3.3V
#define VUEXT2_ON digitalWrite(VUEXT2EN, LOW) //POWER ON UEXT2 3.3V
#define VCARD_ON digitalWrite(VCARDEN, LOW) //POWER ON SDCARD 3.3V
#define BUTTON_PRESSED (PINE & (1<<2))==0
#define BUTTON_RELEASED (PINE & (1<<2))!=0
#define MPU9150_AUX_VDDIO 0x01 // R/W
#define MPU9150_SMPLRT_DIV 0x19 // R/W
#define MPU9150_CONFIG 0x1A // R/W
#define MPU9150_GYRO_CONFIG 0x1B // R/W
#define MPU9150_ACCEL_CONFIG 0x1C // R/W
#define MPU9150_FF_THR 0x1D // R/W
#define MPU9150_FF_DUR 0x1E // R/W
#define MPU9150_MOT_THR 0x1F // R/W
#define MPU9150_MOT_DUR 0x20 // R/W
#define MPU9150_ZRMOT_THR 0x21 // R/W
#define MPU9150_ZRMOT_DUR 0x22 // R/W
#define MPU9150_FIFO_EN 0x23 // R/W
#define MPU9150_I2C_MST_CTRL 0x24 // R/W
#define MPU9150_I2C_SLV0_ADDR 0x25 // R/W
#define MPU9150_I2C_SLV0_REG 0x26 // R/W
#define MPU9150_I2C_SLV0_CTRL 0x27 // R/W
#define MPU9150_I2C_SLV1_ADDR 0x28 // R/W
#define MPU9150_I2C_SLV1_REG 0x29 // R/W
#define MPU9150_I2C_SLV1_CTRL 0x2A // R/W
#define MPU9150_I2C_SLV2_ADDR 0x2B // R/W
#define MPU9150_I2C_SLV2_REG 0x2C // R/W
#define MPU9150_I2C_SLV2_CTRL 0x2D // R/W
#define MPU9150_I2C_SLV3_ADDR 0x2E // R/W
#define MPU9150_I2C_SLV3_REG 0x2F // R/W
#define MPU9150_I2C_SLV3_CTRL 0x30 // R/W
#define MPU9150_I2C_SLV4_ADDR 0x31 // R/W
#define MPU9150_I2C_SLV4_REG 0x32 // R/W
#define MPU9150_I2C_SLV4_DO 0x33 // R/W
#define MPU9150_I2C_SLV4_CTRL 0x34 // R/W
#define MPU9150_I2C_SLV4_DI 0x35 // R
#define MPU9150_I2C_MST_STATUS 0x36 // R
#define MPU9150_INT_PIN_CFG 0x37 // R/W
#define MPU9150_INT_ENABLE 0x38 // R/W
#define MPU9150_INT_STATUS 0x3A // R
#define MPU9150_ACCEL_XOUT_H 0x3B // R
#define MPU9150_ACCEL_XOUT_L 0x3C // R
#define MPU9150_ACCEL_YOUT_H 0x3D // R
#define MPU9150_ACCEL_YOUT_L 0x3E // R
#define MPU9150_ACCEL_ZOUT_H 0x3F // R
#define MPU9150_ACCEL_ZOUT_L 0x40 // R
#define MPU9150_TEMP_OUT_H 0x41 // R
#define MPU9150_TEMP_OUT_L 0x42 // R
#define MPU9150_GYRO_XOUT_H 0x43 // R
#define MPU9150_GYRO_XOUT_L 0x44 // R
#define MPU9150_GYRO_YOUT_H 0x45 // R
#define MPU9150_GYRO_YOUT_L 0x46 // R
#define MPU9150_GYRO_ZOUT_H 0x47 // R
#define MPU9150_GYRO_ZOUT_L 0x48 // R
#define MPU9150_EXT_SENS_DATA_00 0x49 // R
#define MPU9150_EXT_SENS_DATA_01 0x4A // R
#define MPU9150_EXT_SENS_DATA_02 0x4B // R
#define MPU9150_EXT_SENS_DATA_03 0x4C // R
#define MPU9150_EXT_SENS_DATA_04 0x4D // R
#define MPU9150_EXT_SENS_DATA_05 0x4E // R
#define MPU9150_EXT_SENS_DATA_06 0x4F // R
#define MPU9150_EXT_SENS_DATA_07 0x50 // R
#define MPU9150_EXT_SENS_DATA_08 0x51 // R
#define MPU9150_EXT_SENS_DATA_09 0x52 // R
#define MPU9150_EXT_SENS_DATA_10 0x53 // R
#define MPU9150_EXT_SENS_DATA_11 0x54 // R
#define MPU9150_EXT_SENS_DATA_12 0x55 // R
#define MPU9150_EXT_SENS_DATA_13 0x56 // R
#define MPU9150_EXT_SENS_DATA_14 0x57 // R
#define MPU9150_EXT_SENS_DATA_15 0x58 // R
#define MPU9150_EXT_SENS_DATA_16 0x59 // R
#define MPU9150_EXT_SENS_DATA_17 0x5A // R
#define MPU9150_EXT_SENS_DATA_18 0x5B // R
#define MPU9150_EXT_SENS_DATA_19 0x5C // R
#define MPU9150_EXT_SENS_DATA_20 0x5D // R
#define MPU9150_EXT_SENS_DATA_21 0x5E // R
#define MPU9150_EXT_SENS_DATA_22 0x5F // R
#define MPU9150_EXT_SENS_DATA_23 0x60 // R
#define MPU9150_MOT_DETECT_STATUS 0x61 // R
#define MPU9150_I2C_SLV0_DO 0x63 // R/W
#define MPU9150_I2C_SLV1_DO 0x64 // R/W
#define MPU9150_I2C_SLV2_DO 0x65 // R/W
#define MPU9150_I2C_SLV3_DO 0x66 // R/W
#define MPU9150_I2C_MST_DELAY_CTRL 0x67 // R/W
#define MPU9150_SIGNAL_PATH_RESET 0x68 // R/W
#define MPU9150_MOT_DETECT_CTRL 0x69 // R/W
#define MPU9150_USER_CTRL 0x6A // R/W
#define MPU9150_PWR_MGMT_1 0x6B // R/W
#define MPU9150_PWR_MGMT_2 0x6C // R/W
#define MPU9150_FIFO_COUNTH 0x72 // R/W
#define MPU9150_FIFO_COUNTL 0x73 // R/W
#define MPU9150_FIFO_R_W 0x74 // R/W
#define MPU9150_WHO_AM_I 0x75 // R
// Defines for the bits, to be able to change
// between bit number and binary definition.
// By using the bit number, programming the sensor
// is like programming the AVR microcontroller.
// But instead of using "(1<<X)", or "_BV(X)",
// the Arduino "bit(X)" is used.
#define MPU9150_D0 0
#define MPU9150_D1 1
#define MPU9150_D2 2
#define MPU9150_D3 3
#define MPU9150_D4 4
#define MPU9150_D5 5
#define MPU9150_D6 6
#define MPU9150_D7 7
// AUX_VDDIO Register
#define MPU9150_AUX_VDDIO MPU9150_D7 // I2C high: 1=VDD, 0=VLOGIC
// CONFIG Register
// DLPF is Digital Low Pass Filter for both gyro and accelerometers.
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_DLPF_CFG0 MPU9150_D0
#define MPU9150_DLPF_CFG1 MPU9150_D1
#define MPU9150_DLPF_CFG2 MPU9150_D2
#define MPU9150_EXT_SYNC_SET0 MPU9150_D3
#define MPU9150_EXT_SYNC_SET1 MPU9150_D4
#define MPU9150_EXT_SYNC_SET2 MPU9150_D5
// Combined definitions for the EXT_SYNC_SET values
#define MPU9150_EXT_SYNC_SET_0 (0)
#define MPU9150_EXT_SYNC_SET_1 (bit(MPU9150_EXT_SYNC_SET0))
#define MPU9150_EXT_SYNC_SET_2 (bit(MPU9150_EXT_SYNC_SET1))
#define MPU9150_EXT_SYNC_SET_3 (bit(MPU9150_EXT_SYNC_SET1)|bit(MPU9150_EXT_SYNC_SET0))
#define MPU9150_EXT_SYNC_SET_4 (bit(MPU9150_EXT_SYNC_SET2))
#define MPU9150_EXT_SYNC_SET_5 (bit(MPU9150_EXT_SYNC_SET2)|bit(MPU9150_EXT_SYNC_SET0))
#define MPU9150_EXT_SYNC_SET_6 (bit(MPU9150_EXT_SYNC_SET2)|bit(MPU9150_EXT_SYNC_SET1))
#define MPU9150_EXT_SYNC_SET_7 (bit(MPU9150_EXT_SYNC_SET2)|bit(MPU9150_EXT_SYNC_SET1)|bit(MPU9150_EXT_SYNC_SET0))
// Alternative names for the combined definitions.
#define MPU9150_EXT_SYNC_DISABLED MPU9150_EXT_SYNC_SET_0
#define MPU9150_EXT_SYNC_TEMP_OUT_L MPU9150_EXT_SYNC_SET_1
#define MPU9150_EXT_SYNC_GYRO_XOUT_L MPU9150_EXT_SYNC_SET_2
#define MPU9150_EXT_SYNC_GYRO_YOUT_L MPU9150_EXT_SYNC_SET_3
#define MPU9150_EXT_SYNC_GYRO_ZOUT_L MPU9150_EXT_SYNC_SET_4
#define MPU9150_EXT_SYNC_ACCEL_XOUT_L MPU9150_EXT_SYNC_SET_5
#define MPU9150_EXT_SYNC_ACCEL_YOUT_L MPU9150_EXT_SYNC_SET_6
#define MPU9150_EXT_SYNC_ACCEL_ZOUT_L MPU9150_EXT_SYNC_SET_7
// Combined definitions for the DLPF_CFG values
#define MPU9150_DLPF_CFG_0 (0)
#define MPU9150_DLPF_CFG_1 (bit(MPU9150_DLPF_CFG0))
#define MPU9150_DLPF_CFG_2 (bit(MPU9150_DLPF_CFG1))
#define MPU9150_DLPF_CFG_3 (bit(MPU9150_DLPF_CFG1)|bit(MPU9150_DLPF_CFG0))
#define MPU9150_DLPF_CFG_4 (bit(MPU9150_DLPF_CFG2))
#define MPU9150_DLPF_CFG_5 (bit(MPU9150_DLPF_CFG2)|bit(MPU9150_DLPF_CFG0))
#define MPU9150_DLPF_CFG_6 (bit(MPU9150_DLPF_CFG2)|bit(MPU9150_DLPF_CFG1))
#define MPU9150_DLPF_CFG_7 (bit(MPU9150_DLPF_CFG2)|bit(MPU9150_DLPF_CFG1)|bit(MPU9150_DLPF_CFG0))
// Alternative names for the combined definitions
// This name uses the bandwidth (Hz) for the accelometer,
// for the gyro the bandwidth is almost the same.
#define MPU9150_DLPF_260HZ MPU9150_DLPF_CFG_0
#define MPU9150_DLPF_184HZ MPU9150_DLPF_CFG_1
#define MPU9150_DLPF_94HZ MPU9150_DLPF_CFG_2
#define MPU9150_DLPF_44HZ MPU9150_DLPF_CFG_3
#define MPU9150_DLPF_21HZ MPU9150_DLPF_CFG_4
#define MPU9150_DLPF_10HZ MPU9150_DLPF_CFG_5
#define MPU9150_DLPF_5HZ MPU9150_DLPF_CFG_6
#define MPU9150_DLPF_RESERVED MPU9150_DLPF_CFG_7
// GYRO_CONFIG Register
// The XG_ST, YG_ST, ZG_ST are bits for selftest.
// The FS_SEL sets the range for the gyro.
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_FS_SEL0 MPU9150_D3
#define MPU9150_FS_SEL1 MPU9150_D4
#define MPU9150_ZG_ST MPU9150_D5
#define MPU9150_YG_ST MPU9150_D6
#define MPU9150_XG_ST MPU9150_D7
// Combined definitions for the FS_SEL values
#define MPU9150_FS_SEL_0 (0)
#define MPU9150_FS_SEL_1 (bit(MPU9150_FS_SEL0))
#define MPU9150_FS_SEL_2 (bit(MPU9150_FS_SEL1))
#define MPU9150_FS_SEL_3 (bit(MPU9150_FS_SEL1)|bit(MPU9150_FS_SEL0))
// Alternative names for the combined definitions
// The name uses the range in degrees per second.
#define MPU9150_FS_SEL_250 MPU9150_FS_SEL_0
#define MPU9150_FS_SEL_500 MPU9150_FS_SEL_1
#define MPU9150_FS_SEL_1000 MPU9150_FS_SEL_2
#define MPU9150_FS_SEL_2000 MPU9150_FS_SEL_3
// ACCEL_CONFIG Register
// The XA_ST, YA_ST, ZA_ST are bits for selftest.
// The AFS_SEL sets the range for the accelerometer.
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_ACCEL_HPF0 MPU9150_D0
#define MPU9150_ACCEL_HPF1 MPU9150_D1
#define MPU9150_ACCEL_HPF2 MPU9150_D2
#define MPU9150_AFS_SEL0 MPU9150_D3
#define MPU9150_AFS_SEL1 MPU9150_D4
#define MPU9150_ZA_ST MPU9150_D5
#define MPU9150_YA_ST MPU9150_D6
#define MPU9150_XA_ST MPU9150_D7
// Combined definitions for the ACCEL_HPF values
#define MPU9150_ACCEL_HPF_0 (0)
#define MPU9150_ACCEL_HPF_1 (bit(MPU9150_ACCEL_HPF0))
#define MPU9150_ACCEL_HPF_2 (bit(MPU9150_ACCEL_HPF1))
#define MPU9150_ACCEL_HPF_3 (bit(MPU9150_ACCEL_HPF1)|bit(MPU9150_ACCEL_HPF0))
#define MPU9150_ACCEL_HPF_4 (bit(MPU9150_ACCEL_HPF2))
#define MPU9150_ACCEL_HPF_7 (bit(MPU9150_ACCEL_HPF2)|bit(MPU9150_ACCEL_HPF1)|bit(MPU9150_ACCEL_HPF0))
// Alternative names for the combined definitions
// The name uses the Cut-off frequency.
#define MPU9150_ACCEL_HPF_RESET MPU9150_ACCEL_HPF_0
#define MPU9150_ACCEL_HPF_5HZ MPU9150_ACCEL_HPF_1
#define MPU9150_ACCEL_HPF_2_5HZ MPU9150_ACCEL_HPF_2
#define MPU9150_ACCEL_HPF_1_25HZ MPU9150_ACCEL_HPF_3
#define MPU9150_ACCEL_HPF_0_63HZ MPU9150_ACCEL_HPF_4
#define MPU9150_ACCEL_HPF_HOLD MPU9150_ACCEL_HPF_7
// Combined definitions for the AFS_SEL values
#define MPU9150_AFS_SEL_0 (0)
#define MPU9150_AFS_SEL_1 (bit(MPU9150_AFS_SEL0))
#define MPU9150_AFS_SEL_2 (bit(MPU9150_AFS_SEL1))
#define MPU9150_AFS_SEL_3 (bit(MPU9150_AFS_SEL1)|bit(MPU9150_AFS_SEL0))
// Alternative names for the combined definitions
// The name uses the full scale range for the accelerometer.
#define MPU9150_AFS_SEL_2G MPU9150_AFS_SEL_0
#define MPU9150_AFS_SEL_4G MPU9150_AFS_SEL_1
#define MPU9150_AFS_SEL_8G MPU9150_AFS_SEL_2
#define MPU9150_AFS_SEL_16G MPU9150_AFS_SEL_3
// FIFO_EN Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_SLV0_FIFO_EN MPU9150_D0
#define MPU9150_SLV1_FIFO_EN MPU9150_D1
#define MPU9150_SLV2_FIFO_EN MPU9150_D2
#define MPU9150_ACCEL_FIFO_EN MPU9150_D3
#define MPU9150_ZG_FIFO_EN MPU9150_D4
#define MPU9150_YG_FIFO_EN MPU9150_D5
#define MPU9150_XG_FIFO_EN MPU9150_D6
#define MPU9150_TEMP_FIFO_EN MPU9150_D7
// I2C_MST_CTRL Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_MST_CLK0 MPU9150_D0
#define MPU9150_I2C_MST_CLK1 MPU9150_D1
#define MPU9150_I2C_MST_CLK2 MPU9150_D2
#define MPU9150_I2C_MST_CLK3 MPU9150_D3
#define MPU9150_I2C_MST_P_NSR MPU9150_D4
#define MPU9150_SLV_3_FIFO_EN MPU9150_D5
#define MPU9150_WAIT_FOR_ES MPU9150_D6
#define MPU9150_MULT_MST_EN MPU9150_D7
// Combined definitions for the I2C_MST_CLK
#define MPU9150_I2C_MST_CLK_0 (0)
#define MPU9150_I2C_MST_CLK_1 (bit(MPU9150_I2C_MST_CLK0))
#define MPU9150_I2C_MST_CLK_2 (bit(MPU9150_I2C_MST_CLK1))
#define MPU9150_I2C_MST_CLK_3 (bit(MPU9150_I2C_MST_CLK1)|bit(MPU9150_I2C_MST_CLK0))
#define MPU9150_I2C_MST_CLK_4 (bit(MPU9150_I2C_MST_CLK2))
#define MPU9150_I2C_MST_CLK_5 (bit(MPU9150_I2C_MST_CLK2)|bit(MPU9150_I2C_MST_CLK0))
#define MPU9150_I2C_MST_CLK_6 (bit(MPU9150_I2C_MST_CLK2)|bit(MPU9150_I2C_MST_CLK1))
#define MPU9150_I2C_MST_CLK_7 (bit(MPU9150_I2C_MST_CLK2)|bit(MPU9150_I2C_MST_CLK1)|bit(MPU9150_I2C_MST_CLK0))
#define MPU9150_I2C_MST_CLK_8 (bit(MPU9150_I2C_MST_CLK3))
#define MPU9150_I2C_MST_CLK_9 (bit(MPU9150_I2C_MST_CLK3)|bit(MPU9150_I2C_MST_CLK0))
#define MPU9150_I2C_MST_CLK_10 (bit(MPU9150_I2C_MST_CLK3)|bit(MPU9150_I2C_MST_CLK1))
#define MPU9150_I2C_MST_CLK_11 (bit(MPU9150_I2C_MST_CLK3)|bit(MPU9150_I2C_MST_CLK1)|bit(MPU9150_I2C_MST_CLK0))
#define MPU9150_I2C_MST_CLK_12 (bit(MPU9150_I2C_MST_CLK3)|bit(MPU9150_I2C_MST_CLK2))
#define MPU9150_I2C_MST_CLK_13 (bit(MPU9150_I2C_MST_CLK3)|bit(MPU9150_I2C_MST_CLK2)|bit(MPU9150_I2C_MST_CLK0))
#define MPU9150_I2C_MST_CLK_14 (bit(MPU9150_I2C_MST_CLK3)|bit(MPU9150_I2C_MST_CLK2)|bit(MPU9150_I2C_MST_CLK1))
#define MPU9150_I2C_MST_CLK_15 (bit(MPU9150_I2C_MST_CLK3)|bit(MPU9150_I2C_MST_CLK2)|bit(MPU9150_I2C_MST_CLK1)|bit(MPU9150_I2C_MST_CLK0))
// Alternative names for the combined definitions
// The names uses I2C Master Clock Speed in kHz.
#define MPU9150_I2C_MST_CLK_348KHZ MPU9150_I2C_MST_CLK_0
#define MPU9150_I2C_MST_CLK_333KHZ MPU9150_I2C_MST_CLK_1
#define MPU9150_I2C_MST_CLK_320KHZ MPU9150_I2C_MST_CLK_2
#define MPU9150_I2C_MST_CLK_308KHZ MPU9150_I2C_MST_CLK_3
#define MPU9150_I2C_MST_CLK_296KHZ MPU9150_I2C_MST_CLK_4
#define MPU9150_I2C_MST_CLK_286KHZ MPU9150_I2C_MST_CLK_5
#define MPU9150_I2C_MST_CLK_276KHZ MPU9150_I2C_MST_CLK_6
#define MPU9150_I2C_MST_CLK_267KHZ MPU9150_I2C_MST_CLK_7
#define MPU9150_I2C_MST_CLK_258KHZ MPU9150_I2C_MST_CLK_8
#define MPU9150_I2C_MST_CLK_500KHZ MPU9150_I2C_MST_CLK_9
#define MPU9150_I2C_MST_CLK_471KHZ MPU9150_I2C_MST_CLK_10
#define MPU9150_I2C_MST_CLK_444KHZ MPU9150_I2C_MST_CLK_11
#define MPU9150_I2C_MST_CLK_421KHZ MPU9150_I2C_MST_CLK_12
#define MPU9150_I2C_MST_CLK_400KHZ MPU9150_I2C_MST_CLK_13
#define MPU9150_I2C_MST_CLK_381KHZ MPU9150_I2C_MST_CLK_14
#define MPU9150_I2C_MST_CLK_364KHZ MPU9150_I2C_MST_CLK_15
// I2C_SLV0_ADDR Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_SLV0_RW MPU9150_D7
// I2C_SLV0_CTRL Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_SLV0_LEN0 MPU9150_D0
#define MPU9150_I2C_SLV0_LEN1 MPU9150_D1
#define MPU9150_I2C_SLV0_LEN2 MPU9150_D2
#define MPU9150_I2C_SLV0_LEN3 MPU9150_D3
#define MPU9150_I2C_SLV0_GRP MPU9150_D4
#define MPU9150_I2C_SLV0_REG_DIS MPU9150_D5
#define MPU9150_I2C_SLV0_BYTE_SW MPU9150_D6
#define MPU9150_I2C_SLV0_EN MPU9150_D7
// A mask for the length
#define MPU9150_I2C_SLV0_LEN_MASK 0x0F
// I2C_SLV1_ADDR Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_SLV1_RW MPU9150_D7
// I2C_SLV1_CTRL Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_SLV1_LEN0 MPU9150_D0
#define MPU9150_I2C_SLV1_LEN1 MPU9150_D1
#define MPU9150_I2C_SLV1_LEN2 MPU9150_D2
#define MPU9150_I2C_SLV1_LEN3 MPU9150_D3
#define MPU9150_I2C_SLV1_GRP MPU9150_D4
#define MPU9150_I2C_SLV1_REG_DIS MPU9150_D5
#define MPU9150_I2C_SLV1_BYTE_SW MPU9150_D6
#define MPU9150_I2C_SLV1_EN MPU9150_D7
// A mask for the length
#define MPU9150_I2C_SLV1_LEN_MASK 0x0F
// I2C_SLV2_ADDR Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_SLV2_RW MPU9150_D7
// I2C_SLV2_CTRL Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_SLV2_LEN0 MPU9150_D0
#define MPU9150_I2C_SLV2_LEN1 MPU9150_D1
#define MPU9150_I2C_SLV2_LEN2 MPU9150_D2
#define MPU9150_I2C_SLV2_LEN3 MPU9150_D3
#define MPU9150_I2C_SLV2_GRP MPU9150_D4
#define MPU9150_I2C_SLV2_REG_DIS MPU9150_D5
#define MPU9150_I2C_SLV2_BYTE_SW MPU9150_D6
#define MPU9150_I2C_SLV2_EN MPU9150_D7
// A mask for the length
#define MPU9150_I2C_SLV2_LEN_MASK 0x0F
// I2C_SLV3_ADDR Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_SLV3_RW MPU9150_D7
// I2C_SLV3_CTRL Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_SLV3_LEN0 MPU9150_D0
#define MPU9150_I2C_SLV3_LEN1 MPU9150_D1
#define MPU9150_I2C_SLV3_LEN2 MPU9150_D2
#define MPU9150_I2C_SLV3_LEN3 MPU9150_D3
#define MPU9150_I2C_SLV3_GRP MPU9150_D4
#define MPU9150_I2C_SLV3_REG_DIS MPU9150_D5
#define MPU9150_I2C_SLV3_BYTE_SW MPU9150_D6
#define MPU9150_I2C_SLV3_EN MPU9150_D7
// A mask for the length
#define MPU9150_I2C_SLV3_LEN_MASK 0x0F
// I2C_SLV4_ADDR Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_SLV4_RW MPU9150_D7
// I2C_SLV4_CTRL Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_MST_DLY0 MPU9150_D0
#define MPU9150_I2C_MST_DLY1 MPU9150_D1
#define MPU9150_I2C_MST_DLY2 MPU9150_D2
#define MPU9150_I2C_MST_DLY3 MPU9150_D3
#define MPU9150_I2C_MST_DLY4 MPU9150_D4
#define MPU9150_I2C_SLV4_REG_DIS MPU9150_D5
#define MPU9150_I2C_SLV4_INT_EN MPU9150_D6
#define MPU9150_I2C_SLV4_EN MPU9150_D7
// A mask for the delay
#define MPU9150_I2C_MST_DLY_MASK 0x1F
// I2C_MST_STATUS Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_SLV0_NACK MPU9150_D0
#define MPU9150_I2C_SLV1_NACK MPU9150_D1
#define MPU9150_I2C_SLV2_NACK MPU9150_D2
#define MPU9150_I2C_SLV3_NACK MPU9150_D3
#define MPU9150_I2C_SLV4_NACK MPU9150_D4
#define MPU9150_I2C_LOST_ARB MPU9150_D5
#define MPU9150_I2C_SLV4_DONE MPU9150_D6
#define MPU9150_PASS_THROUGH MPU9150_D7
// I2C_PIN_CFG Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_CLKOUT_EN MPU9150_D0
#define MPU9150_I2C_BYPASS_EN MPU9150_D1
#define MPU9150_FSYNC_INT_EN MPU9150_D2
#define MPU9150_FSYNC_INT_LEVEL MPU9150_D3
#define MPU9150_INT_RD_CLEAR MPU9150_D4
#define MPU9150_LATCH_INT_EN MPU9150_D5
#define MPU9150_INT_OPEN MPU9150_D6
#define MPU9150_INT_LEVEL MPU9150_D7
// INT_ENABLE Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_DATA_RDY_EN MPU9150_D0
#define MPU9150_I2C_MST_INT_EN MPU9150_D3
#define MPU9150_FIFO_OFLOW_EN MPU9150_D4
#define MPU9150_ZMOT_EN MPU9150_D5
#define MPU9150_MOT_EN MPU9150_D6
#define MPU9150_FF_EN MPU9150_D7
// INT_STATUS Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_DATA_RDY_INT MPU9150_D0
#define MPU9150_I2C_MST_INT MPU9150_D3
#define MPU9150_FIFO_OFLOW_INT MPU9150_D4
#define MPU9150_ZMOT_INT MPU9150_D5
#define MPU9150_MOT_INT MPU9150_D6
#define MPU9150_FF_INT MPU9150_D7
// MOT_DETECT_STATUS Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_MOT_ZRMOT MPU9150_D0
#define MPU9150_MOT_ZPOS MPU9150_D2
#define MPU9150_MOT_ZNEG MPU9150_D3
#define MPU9150_MOT_YPOS MPU9150_D4
#define MPU9150_MOT_YNEG MPU9150_D5
#define MPU9150_MOT_XPOS MPU9150_D6
#define MPU9150_MOT_XNEG MPU9150_D7
// IC2_MST_DELAY_CTRL Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_I2C_SLV0_DLY_EN MPU9150_D0
#define MPU9150_I2C_SLV1_DLY_EN MPU9150_D1
#define MPU9150_I2C_SLV2_DLY_EN MPU9150_D2
#define MPU9150_I2C_SLV3_DLY_EN MPU9150_D3
#define MPU9150_I2C_SLV4_DLY_EN MPU9150_D4
#define MPU9150_DELAY_ES_SHADOW MPU9150_D7
// SIGNAL_PATH_RESET Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_TEMP_RESET MPU9150_D0
#define MPU9150_ACCEL_RESET MPU9150_D1
#define MPU9150_GYRO_RESET MPU9150_D2
// MOT_DETECT_CTRL Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_MOT_COUNT0 MPU9150_D0
#define MPU9150_MOT_COUNT1 MPU9150_D1
#define MPU9150_FF_COUNT0 MPU9150_D2
#define MPU9150_FF_COUNT1 MPU9150_D3
#define MPU9150_ACCEL_ON_DELAY0 MPU9150_D4
#define MPU9150_ACCEL_ON_DELAY1 MPU9150_D5
// Combined definitions for the MOT_COUNT
#define MPU9150_MOT_COUNT_0 (0)
#define MPU9150_MOT_COUNT_1 (bit(MPU9150_MOT_COUNT0))
#define MPU9150_MOT_COUNT_2 (bit(MPU9150_MOT_COUNT1))
#define MPU9150_MOT_COUNT_3 (bit(MPU9150_MOT_COUNT1)|bit(MPU9150_MOT_COUNT0))
// Alternative names for the combined definitions
#define MPU9150_MOT_COUNT_RESET MPU9150_MOT_COUNT_0
// Combined definitions for the FF_COUNT
#define MPU9150_FF_COUNT_0 (0)
#define MPU9150_FF_COUNT_1 (bit(MPU9150_FF_COUNT0))
#define MPU9150_FF_COUNT_2 (bit(MPU9150_FF_COUNT1))
#define MPU9150_FF_COUNT_3 (bit(MPU9150_FF_COUNT1)|bit(MPU9150_FF_COUNT0))
// Alternative names for the combined definitions
#define MPU9150_FF_COUNT_RESET MPU9150_FF_COUNT_0
// Combined definitions for the ACCEL_ON_DELAY
#define MPU9150_ACCEL_ON_DELAY_0 (0)
#define MPU9150_ACCEL_ON_DELAY_1 (bit(MPU9150_ACCEL_ON_DELAY0))
#define MPU9150_ACCEL_ON_DELAY_2 (bit(MPU9150_ACCEL_ON_DELAY1))
#define MPU9150_ACCEL_ON_DELAY_3 (bit(MPU9150_ACCEL_ON_DELAY1)|bit(MPU9150_ACCEL_ON_DELAY0))
// Alternative names for the ACCEL_ON_DELAY
#define MPU9150_ACCEL_ON_DELAY_0MS MPU9150_ACCEL_ON_DELAY_0
#define MPU9150_ACCEL_ON_DELAY_1MS MPU9150_ACCEL_ON_DELAY_1
#define MPU9150_ACCEL_ON_DELAY_2MS MPU9150_ACCEL_ON_DELAY_2
#define MPU9150_ACCEL_ON_DELAY_3MS MPU9150_ACCEL_ON_DELAY_3
// USER_CTRL Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_SIG_COND_RESET MPU9150_D0
#define MPU9150_I2C_MST_RESET MPU9150_D1
#define MPU9150_FIFO_RESET MPU9150_D2
#define MPU9150_I2C_IF_DIS MPU9150_D4 // must be 0 for MPU-9150
#define MPU9150_I2C_MST_EN MPU9150_D5
#define MPU9150_FIFO_EN MPU9150_D6
// PWR_MGMT_1 Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_CLKSEL0 MPU9150_D0
#define MPU9150_CLKSEL1 MPU9150_D1
#define MPU9150_CLKSEL2 MPU9150_D2
#define MPU9150_TEMP_DIS MPU9150_D3 // 1: disable temperature sensor
#define MPU9150_CYCLE MPU9150_D5 // 1: sample and sleep
#define MPU9150_SLEEP MPU9150_D6 // 1: sleep mode
#define MPU9150_DEVICE_RESET MPU9150_D7 // 1: reset to default values
// Combined definitions for the CLKSEL
#define MPU9150_CLKSEL_0 (0)
#define MPU9150_CLKSEL_1 (bit(MPU9150_CLKSEL0))
#define MPU9150_CLKSEL_2 (bit(MPU9150_CLKSEL1))
#define MPU9150_CLKSEL_3 (bit(MPU9150_CLKSEL1)|bit(MPU9150_CLKSEL0))
#define MPU9150_CLKSEL_4 (bit(MPU9150_CLKSEL2))
#define MPU9150_CLKSEL_5 (bit(MPU9150_CLKSEL2)|bit(MPU9150_CLKSEL0))
#define MPU9150_CLKSEL_6 (bit(MPU9150_CLKSEL2)|bit(MPU9150_CLKSEL1))
#define MPU9150_CLKSEL_7 (bit(MPU9150_CLKSEL2)|bit(MPU9150_CLKSEL1)|bit(MPU9150_CLKSEL0))
// Alternative names for the combined definitions
#define MPU9150_CLKSEL_INTERNAL MPU9150_CLKSEL_0
#define MPU9150_CLKSEL_X MPU9150_CLKSEL_1
#define MPU9150_CLKSEL_Y MPU9150_CLKSEL_2
#define MPU9150_CLKSEL_Z MPU9150_CLKSEL_3
#define MPU9150_CLKSEL_EXT_32KHZ MPU9150_CLKSEL_4
#define MPU9150_CLKSEL_EXT_19_2MHZ MPU9150_CLKSEL_5
#define MPU9150_CLKSEL_RESERVED MPU9150_CLKSEL_6
#define MPU9150_CLKSEL_STOP MPU9150_CLKSEL_7
// PWR_MGMT_2 Register
// These are the names for the bits.
// Use these only with the bit() macro.
#define MPU9150_STBY_ZG MPU9150_D0
#define MPU9150_STBY_YG MPU9150_D1
#define MPU9150_STBY_XG MPU9150_D2
#define MPU9150_STBY_ZA MPU9150_D3
#define MPU9150_STBY_YA MPU9150_D4
#define MPU9150_STBY_XA MPU9150_D5
#define MPU9150_LP_WAKE_CTRL0 MPU9150_D6
#define MPU9150_LP_WAKE_CTRL1 MPU9150_D7
// Combined definitions for the LP_WAKE_CTRL
#define MPU9150_LP_WAKE_CTRL_0 (0)
#define MPU9150_LP_WAKE_CTRL_1 (bit(MPU9150_LP_WAKE_CTRL0))
#define MPU9150_LP_WAKE_CTRL_2 (bit(MPU9150_LP_WAKE_CTRL1))
#define MPU9150_LP_WAKE_CTRL_3 (bit(MPU9150_LP_WAKE_CTRL1)|bit(MPU9150_LP_WAKE_CTRL0))
// Alternative names for the combined definitions
// The names uses the Wake-up Frequency.
#define MPU9150_LP_WAKE_1_25HZ MPU9150_LP_WAKE_CTRL_0
#define MPU9150_LP_WAKE_2_5HZ MPU9150_LP_WAKE_CTRL_1
#define MPU9150_LP_WAKE_5HZ MPU9150_LP_WAKE_CTRL_2
#define MPU9150_LP_WAKE_10HZ MPU9150_LP_WAKE_CTRL_3
// Default I2C address for the MPU-9150 is 0x68.
// But only if the AD0 pin is low.
// Some sensor boards have AD0 high, and the
// I2C address thus becomes 0x69.
#define MPU9150_I2C_ADDRESS 0x68
//Led
boolean point=1;
unsigned char l[] = "((";
unsigned char r[] = "))";
unsigned char s[] = "STOP";
unsigned char f[] = "^^";
unsigned int cntr=0;
unsigned int cntr2=31;
unsigned int cntr3=31;
unsigned int cntr4=31;
unsigned int shake=0;
unsigned int walk=0;
char step=-1; // direction of signs
// Declaring an union for the registers and the axis values.
// The byte order does not match the byte order of
// the compiler and AVR chip.
// The AVR chip (on the Arduino board) has the Low Byte
// at the lower address.
// But the MPU-9150 has a different order: High Byte at
// lower address, so that has to be corrected.
// The register part "reg" is only used internally,
// and are swapped in code.
typedef union accel_t_gyro_union
{
struct
{
uint8_t x_accel_h;
uint8_t x_accel_l;
uint8_t y_accel_h;
uint8_t y_accel_l;
uint8_t z_accel_h;
uint8_t z_accel_l;
uint8_t t_h;
uint8_t t_l;
uint8_t x_gyro_h;
uint8_t x_gyro_l;
uint8_t y_gyro_h;
uint8_t y_gyro_l;
uint8_t z_gyro_h;
uint8_t z_gyro_l;
} reg;
struct
{
int16_t x_accel;
int16_t y_accel;
int16_t z_accel;
int16_t temperature;
int16_t x_gyro;
int16_t y_gyro;
int16_t z_gyro;
} value;
};
accel_t_gyro_union accel_t_gyro;
void readGyro()
{
int error;
error = MPU9150_read (MPU9150_ACCEL_XOUT_H, (uint8_t *) &accel_t_gyro, sizeof(accel_t_gyro));
uint8_t swap;
#define SWAP(x,y) swap = x; x = y; y = swap
SWAP (accel_t_gyro.reg.x_accel_h, accel_t_gyro.reg.x_accel_l);
SWAP (accel_t_gyro.reg.y_accel_h, accel_t_gyro.reg.y_accel_l);
SWAP (accel_t_gyro.reg.z_accel_h, accel_t_gyro.reg.z_accel_l);
SWAP (accel_t_gyro.reg.t_h, accel_t_gyro.reg.t_l);
SWAP (accel_t_gyro.reg.x_gyro_h, accel_t_gyro.reg.x_gyro_l);
SWAP (accel_t_gyro.reg.y_gyro_h, accel_t_gyro.reg.y_gyro_l);
SWAP (accel_t_gyro.reg.z_gyro_h, accel_t_gyro.reg.z_gyro_l);
accel_t_gyro.value.x_accel = map(accel_t_gyro.value.x_accel, 0, 17000, 0, 180);
accel_t_gyro.value.y_accel = map(accel_t_gyro.value.y_accel, 0, 17000, 0, 180);
accel_t_gyro.value.z_accel = map(accel_t_gyro.value.z_accel, 0, 17000, 0, 180);
accel_t_gyro.value.x_gyro = map(accel_t_gyro.value.x_gyro, 0, 17000, 0, 180);
accel_t_gyro.value.y_gyro = map(accel_t_gyro.value.y_gyro, 0, 17000, 0, 180);
accel_t_gyro.value.z_gyro = map(accel_t_gyro.value.z_gyro, 0, 17000, 0, 180);
}
void Set_Charge_Current_125mA(void)
{
pinMode(DAC1, INPUT);
pinMode(DAC0,OUTPUT );
pinMode(DAC2,INPUT );
digitalWrite(DAC0, LOW);
}
void Set_Charge_Current_200mA(void)
{
pinMode(DAC0, INPUT);
pinMode(DAC1,OUTPUT );
pinMode(DAC2,INPUT );
digitalWrite(DAC1, LOW);
}
void Set_Charge_Current_300mA(void)
{
pinMode(DAC0, OUTPUT);
pinMode(DAC1,OUTPUT );
pinMode(DAC2,INPUT );
digitalWrite(DAC0, LOW);
digitalWrite(DAC1, LOW);
}
void Set_Charge_Current_1A(void)
{
pinMode(DAC0, INPUT);
pinMode(DAC1, INPUT);
pinMode(DAC2, OUTPUT);
digitalWrite(DAC2, LOW);
}
void Set_Charge_Current_OFF(void)
{
pinMode(DAC0, INPUT);
pinMode(DAC1, INPUT);
pinMode(DAC2, INPUT);
}
float VBat(void)
{
// Return System Voltage in [V]
return analogRead(VBAT) * 0.0064453125;
}
bool IsOnBattery(void){
// Return TRUE if powered on Battery
if (VBat() < 4.4)
return true;
else
return false;
}
void wakeupFunction(){
VLED_ON;
VUEXT1_ON;
VUEXT2_ON;
VCARD_ON;
}
void toSleep(){
VLED_OFF;
VUEXT1_OFF;
VUEXT2_OFF;
VCARD_OFF;
while(BUTTON_PRESSED);
// To enter low power sleep mode call Watchdog.sleep() like below
// and the watchdog will allow low power sleep for as long as possible.
// The actual amount of time spent in sleep will be returned (in
// milliseconds).
while(BUTTON_RELEASED)
Watchdog.sleep();
while(BUTTON_PRESSED);
}
void setup()
{
int error;
uint8_t c;
pinMode(8, OUTPUT);
Serial.begin(1152000);
Serial.begin(115200);
while (Serial) {
}
//Serial.println(F("VenCo"));
//Serial.println(F("20.12.2015"));
// Initialize the 'Wire' class for the I2C-bus.
Wire.begin();
// default at power-up:
// Gyro at 250 degrees second
// Acceleration at 2g
// Clock source at internal 8MHz
// The device is in sleep mode.
//
error = MPU9150_read (MPU9150_WHO_AM_I, &c, 1);
//Serial.print(F("WHO_AM_I : "));
//Serial.print(c,HEX);
//Serial.print(F(", error = "));
//Serial.println(error,DEC);
// According to the datasheet, the 'sleep' bit
// should read a '1'.
// That bit has to be cleared, since the sensor
// is in sleep mode at power-up.
error = MPU9150_read (MPU9150_PWR_MGMT_1, &c, 1);
//Serial.print(F("PWR_MGMT_1 : "));
//Serial.print(c,HEX);
//Serial.print(F(", error = "));
//Serial.println(error,DEC);
// Clear the 'sleep' bit to start the sensor.
MPU9150_write_reg (MPU9150_PWR_MGMT_1, 0);
// LED
SPI.setDataMode(SPI_MODE1);
SPI.setClockDivider(SPI_CLOCK_DIV64);
SPI.begin();
pinMode(chipSelectPin, OUTPUT);
vClear();
}
// --------------------------------------------------------
// MPU9150_read
//
// This is a common function to read multiple bytes
// from an I2C device.
//
// It uses the boolean parameter for Wire.endTransMission()
// to be able to hold or release the I2C-bus.
// This is implemented in Arduino 1.0.1.
//
// Only this function is used to read.
// There is no function for a single byte.
//
int MPU9150_read(int start, uint8_t *buffer, int size)
{
int i, n, error;
Wire.beginTransmission(MPU9150_I2C_ADDRESS);
n = Wire.write(start);
if (n != 1)
return (-10);
n = Wire.endTransmission(false); // hold the I2C-bus
if (n != 0)
return (n);
// Third parameter is true: relase I2C-bus after data is read.
Wire.requestFrom(MPU9150_I2C_ADDRESS, size, true);
i = 0;
while(Wire.available() && i<size)
{
buffer[i++]=Wire.read();
}
if ( i != size)
return (-11);
return (0); // return : no error
}
// --------------------------------------------------------
// MPU9150_write
//
// This is a common function to write multiple bytes to an I2C device.
//
// If only a single register is written,
// use the function MPU_9150_write_reg().
//
// Parameters:
// start : Start address, use a define for the register
// pData : A pointer to the data to write.
// size : The number of bytes to write.
//
// If only a single register is written, a pointer
// to the data has to be used, and the size is
// a single byte:
// int data = 0; // the data to write
// MPU9150_write (MPU9150_PWR_MGMT_1, &c, 1);
//
int MPU9150_write(int start, const uint8_t *pData, int size)
{
int n, error;
Wire.beginTransmission(MPU9150_I2C_ADDRESS);
n = Wire.write(start); // write the start address
if (n != 1)
return (-20);
n = Wire.write(pData, size); // write data bytes
if (n != size)
return (-21);
error = Wire.endTransmission(true); // release the I2C-bus
if (error != 0)
return (error);
return (0); // return : no error
}
// --------------------------------------------------------
// MPU9150_write_reg
//
// An extra function to write a single register.
// It is just a wrapper around the MPU_9150_write()
// function, and it is only a convenient function
// to make it easier to write a single register.
//
int MPU9150_write_reg(int reg, uint8_t data)
{
int error;
error = MPU9150_write(reg, &data, 1);
return (error);
}
struct pos
{
short x;
short y;
};
struct ldirections
{
long up;
long down;
long left;
long right;
};
struct sdirections
{
short forward;
short backward;
short up;
short down;
short left;
short right;
};
boolean colors[3][8][8];
pos ballspos;
ldirections ballsmovedelay;
sdirections triggerlevel;
void loop()
{
int error;
double dT;
accel_t_gyro_union accel_t_gyro;
VLED_OFF;
//Serial.println(F(""));
//Serial.println(F("MPU-9150"));
// Read the raw values.
// Read 14 bytes at once,
// containing acceleration, temperature and gyro.
// With the default settings of the MPU-9150,
// there is no filter enabled, and the values
// are not very stable.
error = MPU9150_read (MPU9150_ACCEL_XOUT_H, (uint8_t *) &accel_t_gyro, sizeof(accel_t_gyro));
//Serial.print(F("Read accel, temp and gyro, error = "));
//Serial.println(error,DEC);
// Swap all high and low bytes.
// After this, the registers values are swapped,
// so the structure name like x_accel_l does no
// longer contain the lower byte.
uint8_t swap;
#define SWAP(x,y) swap = x; x = y; y = swap
SWAP (accel_t_gyro.reg.x_accel_h, accel_t_gyro.reg.x_accel_l);
SWAP (accel_t_gyro.reg.y_accel_h, accel_t_gyro.reg.y_accel_l);
SWAP (accel_t_gyro.reg.z_accel_h, accel_t_gyro.reg.z_accel_l);
SWAP (accel_t_gyro.reg.t_h, accel_t_gyro.reg.t_l);
SWAP (accel_t_gyro.reg.x_gyro_h, accel_t_gyro.reg.x_gyro_l);
SWAP (accel_t_gyro.reg.y_gyro_h, accel_t_gyro.reg.y_gyro_l);
SWAP (accel_t_gyro.reg.z_gyro_h, accel_t_gyro.reg.z_gyro_l);
// Print the raw acceleration values
//Serial.print(F("accel x,y,z: "));
//Serial.print(accel_t_gyro.value.x_accel, DEC);
//Serial.print(F(", "));
//Serial.print(accel_t_gyro.value.y_accel, DEC);
//Serial.print(F(", "));
//Serial.print(accel_t_gyro.value.z_accel, DEC);
//Serial.println(F(""));
// The temperature sensor is -40 to +85 degrees Celsius.
// It is a signed integer.
// According to the datasheet:
// 340 per degrees Celsius, -512 at 35 degrees.
// At 0 degrees: -512 - (340 * 35) = -12412
//Serial.print(F("temperature: "));
dT = ( (double) accel_t_gyro.value.temperature + 12412.0) / 340.0;
//Serial.print(dT, 3);
//Serial.print(F(" degrees Celsius"));
//Serial.println(F(""));
// Print the raw gyro values.
//Serial.print(F("gyro x,y,z : "));
//Serial.print(accel_t_gyro.value.x_gyro, DEC);
//Serial.print(F(", "));
//Serial.print(accel_t_gyro.value.y_gyro, DEC);
//Serial.print(F(", "));
//Serial.print(accel_t_gyro.value.z_gyro, DEC);
//Serial.print(F(", "));
//Serial.println(F(""));
//delay(700);
readGyro();
triggerlevel.up = 5400;
triggerlevel.down = 5400;
triggerlevel.left = 4300;
triggerlevel.right = 4300;
triggerlevel.forward = 1627;
triggerlevel.backward = 1470;
if (accel_t_gyro.value.y_accel > triggerlevel.forward) //forward
{
VLED_ON;
cntr4++; //draw forward
color=4;
if (cntr4>44) cntr4=0;
drawLine(3+cntr4,1,3+cntr4,7);
drawLine(2+cntr4,1,2+cntr4,8);
drawLine(1+cntr4,1,1+cntr4,7);
drawPixel(0+cntr4,6);
drawPixel(4+cntr4,6);
drawPixel(5+cntr4,5);
drawPixel(-1+cntr4,5);
Transfer();
delay(17);
vClear();
VLED_OFF;
}
if (accel_t_gyro.value.y_accel < triggerlevel.backward) //backward
{
VLED_ON;
cntr3++; //draw stop
color=1;
if (cntr3>27) cntr3=0;
drawCircle(1+cntr3,5,3);
drawCircle(1+cntr3,4,3);
drawCircle(1+cntr3,3,2);
drawCircle(1+cntr3,2,1);
drawCircle(2+cntr3,2,1);
drawCircle(2+cntr3,5,1);
drawCircle(1+cntr3,5,1);
drawCircle(1+cntr3,9,1);
drawLine(0+cntr3,2, 0+cntr3,7);
drawLine(-1+cntr3,3, -1+cntr3,6);
color=7;
drawPixel(1+cntr3,7);
drawPixel(1+cntr3,6);
drawPixel(1+cntr3,5);
drawPixel(1+cntr3,3);
Transfer();
delay(37);
vClear();
VLED_OFF;
}
if (accel_t_gyro.value.z_gyro < -triggerlevel.left) //left
{
VLED_ON;
MPU9150_write_reg (MPU9150_PWR_MGMT_1, 0);
SPI.setDataMode(SPI_MODE1);
SPI.setClockDivider(SPI_CLOCK_DIV64);
SPI.begin();
pinMode(chipSelectPin, OUTPUT);
vClear();
point=!point;
scrollString(l, point);
Transfer();
delay(7);
vClear();
VLED_OFF;
}
if ((accel_t_gyro.value.z_gyro > triggerlevel.right)) //right
{
VLED_ON;
MPU9150_write_reg (MPU9150_PWR_MGMT_1, 0);
SPI.setDataMode(SPI_MODE1);
SPI.setClockDivider(SPI_CLOCK_DIV64);
SPI.begin();
pinMode(chipSelectPin, OUTPUT);
vClear();
point=!point;
scrollString(r, point);
Transfer();
delay(7);
vClear();
VLED_OFF;
}
/*if (accel_t_gyro.value.x_gyro > triggerlevel.up) //up
{
cntr4++; //draw forward
color=4;
if (cntr4>44) cntr4=0;
drawLine(3+cntr4,1,3+cntr4,7);
drawLine(2+cntr4,1,2+cntr4,8);
drawLine(1+cntr4,1,1+cntr4,7);
drawPixel(0+cntr4,6);
drawPixel(4+cntr4,6);
drawPixel(5+cntr4,5);
drawPixel(-1+cntr4,5);
Transfer();
delay(27);
vClear();
}
if (accel_t_gyro.value.x_gyro < -triggerlevel.down) //down
{
cntr3++; //draw stop
color=1;
if (cntr3>83) cntr3=0;
drawCircle(1+cntr3,5,3);
drawCircle(1+cntr3,4,3);
drawCircle(1+cntr3,3,2);
drawCircle(1+cntr3,2,1);
drawCircle(2+cntr3,2,1);
drawCircle(2+cntr3,5,1);
drawCircle(1+cntr3,5,1);
drawCircle(1+cntr3,9,1);
drawLine(0+cntr3,2, 0+cntr3,7);
drawLine(-1+cntr3,3, -1+cntr3,6);
color=7;
drawPixel(1+cntr3,7);
drawPixel(1+cntr3,6);
drawPixel(1+cntr3,5);
drawPixel(1+cntr3,3);
Transfer();
delay(27);
vClear();
} */
//Uncomment next line for release:
// if (BUTTON_PRESSED) toSleep();
}