Jean Perardel
Published © GPL3+

Hygie - Better follow and understand your menopause

A device to better follow your body's reactions. Hygie helps you to understand the evolution of symptoms that can affect you on daily basis

AdvancedFull instructions provided10 hours295
Hygie - Better follow and understand your menopause

Things used in this project

Hardware components

Arduino Pro Mini 328 - 3.3V/8MHz
SparkFun Arduino Pro Mini 328 - 3.3V/8MHz
×1
HC-05 Bluetooth module
×1
Maxim Integrated MAX30102
×1
MPU6050 6 DOF Sensor
×1
Non-contact temperature sensor MLX90614
×1
DS1307 module
×1
Lithium USB Charger 5V - BOOST
×1
SparkFun Lithium ion Battery 1000mA
×1
SparkFun Button 12mm
×4
Button slider
×1
LED RGB 5mm
×1
USB-A to Micro-USB Cable
USB-A to Micro-USB Cable
×1

Software apps and online services

Arduino IDE
Arduino IDE
Processing
The Processing Foundation Processing
MIT App Inventor 2
MIT App Inventor 2

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)
Soldering Station, 110 V
Soldering Station, 110 V
Solder Wire, Lead Free
Solder Wire, Lead Free
PCB Holder, Soldering Iron
PCB Holder, Soldering Iron

Story

Read more

Custom parts and enclosures

Sketchup Full enclosure

Full enclosure with TOP, BOTTOM and Components.
Open it with Sketchup software (2017 recommended, but other should be fine).

Schematics

Fritzing Schematic

Fritzing document

Code

Main_Arduino_Code

Arduino
  
#include <Wire.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include <SoftwareSerial.h>
#include <Adafruit_MLX90614.h>
#include "MAX30105.h"
#include "heartRate.h"
#include "RTCDS1307.h"
#include <EEPROM.h>

#define MPU_ADDR 0x68
#define MEM_START_ADDR 0x6E
#define MEM_R_W 0x6F

#define Min_Time_Short_Push_Button 2
#define Min_Time_Long_Push_Button 15

#define MAX_COUNTER 0xFFFF

#define Buttons_FREQUENCY 64
#define Buttons_FREQUENCY_READ_PER_CYCLE cpt%((MAX_COUNTER/Buttons_FREQUENCY)+1)
#define MAX30105_FREQUENCY 64
#define MAX30105_FREQUENCY_READ_PER_CYCLE cpt%((MAX_COUNTER/MAX30105_FREQUENCY)+1)
#define MLX90614_FREQUENCY 1
#define MLX90614_FREQUENCY_READ_PER_CYCLE cpt%((MAX_COUNTER/MLX90614_FREQUENCY)+1)
#define MPU6050_FREQUENCY 128
#define MPU6050_FREQUENCY_READ_PER_CYCLE cpt%((MAX_COUNTER/MPU6050_FREQUENCY)+1)
#define DS1307_FREQUENCY 1
#define DS1307_FREQUENCY_READ_PER_CYCLE cpt%((MAX_COUNTER/DS1307_FREQUENCY)+1)
#define HC06_FREQUENCY 128
#define HC06_FREQUENCY_READ_PER_CYCLE cpt%((MAX_COUNTER/HC06_FREQUENCY)+1)
#define Serial_FREQUENCY 128
#define Serial_FREQUENCY_READ_PER_CYCLE cpt%((MAX_COUNTER/Serial_FREQUENCY)+1)
#define DimLED_FREQUENCY 64
#define DimLED_FREQUENCY_READ_PER_CYCLE cpt%((MAX_COUNTER/DimLED_FREQUENCY)+1)
#define DebugLED_FREQUENCY 1
#define DebugLED_FREQUENCY_READ_PER_CYCLE cpt%((MAX_COUNTER/DebugLED_FREQUENCY)+1)

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;
float q[4];

//This 3D array contains the default DMP memory bank binary that gets loaded during initialization.
//In the Invensense UC3-A3 firmware this is uploaded in 128 byte tranmissions, but the Arduino Wire
//library only supports 32 byte transmissions, including the register address to which you're writing,
//so I broke it up into 16 byte transmission payloads which are sent in the dmp_init() function below.
//
//This was reconstructed from observed I2C traffic generated by the UC3-A3 demo code, and not extracted
//directly from that code. That is true of all transmissions in this sketch, and any documentation has
//been added after the fact by referencing the Invensense code.

// this tab takes 6% of memory program storage 
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...)
// 13% of global variables
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
};

SoftwareSerial hc06(2,3); // RXPIN TXPIN
Adafruit_MLX90614 mlx = Adafruit_MLX90614();

MAX30105 particleSensor;
const byte RATE_SIZE = 4; //Increase this for more averaging. 4 is good.
byte rates[RATE_SIZE]; //Array of heart rates
byte rateSpot = 0;
long lastBeat = 0; //Time at which the last beat occurred
float beatsPerMinute;
int beatAvg;

RTCDS1307 rtc(0x68);
uint8_t year, month, weekday, day, hour, minute, second;
bool period = 0;
//String m[12] = {"January", "February", "Março", "Abril", "Maio", "Junho", "Julho", "Agosto", "Setembro", "Outubro", "Novembro", "Dezembro"};
//String w[7] = {"Domingo", "Segunda", "Terça", "Quarta", "Quinta", "Sexta", "Sábado"};

/*
 * PIN Description : 
 *  D0 Serial USB RX
 *  D1 Serial USB TX 
 *  D2 Serial Bluetooth RX
 *  D3 Serial Bluetooth TX
 *  D4 Button 1
 *  D5 Button 2
 *  D6 Button 3
 *  D7 Button 4
 *  D8 --------------->UNUSED
 *  D9 DIMMER BLUE LED
 *  D10 LED RGB RED
 *  D11 LED RGB Green
 *  D12 LED RGB BLUE
 *  D13 LED DEBUG
 *  A0 --------------->UNUSED
 *  A1 --------------->UNUSED
 *  A2 --------------->UNUSED
 *  A3 --------------->UNUSED
 *  A4 SDA I2C >> 6-DOF / RTC / Temperature / Pulse
 *  A5 SCL I2C >> 6-DOF / RTC / Temperature / Pulse
 */

int Button_1_Pin = 4;
int Button_2_Pin = 5;
int Button_3_Pin = 6;
int Button_4_Pin = 7;
int ledDim_Pin = 9;       // LED dimmer connected to digital pin 9

int ledRGB_Red_Pin = 10;
int ledRGB_Green_Pin = 11;
int ledRGB_Blue_Pin = 12;
int ledDebug_Pin = 13;    // LED Debug connected to digital 13 

byte Button_1_press = 0;
byte Button_2_press = 0;
byte Button_3_press = 0;
byte Button_4_press = 0;
int Button_1_press_cpt = 0;
int Button_2_press_cpt = 0;
int Button_3_press_cpt = 0;
int Button_4_press_cpt = 0;

int device_MODE = 0;

bool flag_init_MPU6050=0;

unsigned int cpt=0; // General system counter

// LED Dimmer management
unsigned int fadeValue=0;
bool fadeDirection=0;

int EEPROM_current_addr = 0;

void setup() {

  Serial.begin(9600);
  Wire.begin();
  delay(1);  
  
  pin_init(); // Initialize input/output PIN
  mlx.begin();
  
  //MAX30105_init();
  
  hc06_init();
  DS1307_init();
  Serial.println("START LOOP");
}

void loop() {

  if (Buttons_FREQUENCY_READ_PER_CYCLE == 0){Button_read();}  

  // Heart rate sensor module
  //if (MAX30105_FREQUENCY_READ_PER_CYCLE == 0){MAX30105_read();}
  // Temperature module
  if (MLX90614_FREQUENCY_READ_PER_CYCLE == 0 && device_MODE==3){MLX90614_read();}
  // 6-DOF sensor module
  if (MPU6050_FREQUENCY_READ_PER_CYCLE == 0 && device_MODE==4){
    if(!flag_init_MPU6050){
      MPU6050_init();
      delay(10);
      flag_init_MPU6050=1;
    }
    MPU6050_read();}
  // Real time clock module
  if (DS1307_FREQUENCY_READ_PER_CYCLE == 0 && device_MODE==1){DS1307_read();}
  // Bluetooth Module
  if (HC06_FREQUENCY_READ_PER_CYCLE == 0 && device_MODE==1){if (hc06.available()){Serial.write(hc06.read());}}

  if (Serial_FREQUENCY_READ_PER_CYCLE == 0 && device_MODE==1){if (Serial.available()){Serial.write(Serial.read());}}

  if (DimLED_FREQUENCY_READ_PER_CYCLE == 0 && device_MODE==2){DimLED_write();}
    
  if (DebugLED_FREQUENCY_READ_PER_CYCLE == 0 && device_MODE==0){DebugLED_write();}

  if (DebugLED_FREQUENCY_READ_PER_CYCLE == 0){
    if(device_MODE != 4 && flag_init_MPU6050 == 1){
      flag_init_MPU6050=0;
    }
    if(device_MODE != 4 && flag_init_MPU6050 == 1){
      DebugINFO_write();
    }
  }
  
  if(cpt == MAX_COUNTER){cpt=0;}
  else{cpt++;}
  
  //delay(1);
}

// --------------------General functions--------------------
void pin_init() {
  pinMode(ledDim_Pin, OUTPUT);
  pinMode(ledDebug_Pin, OUTPUT);
  pinMode(ledRGB_Red_Pin, OUTPUT);
  pinMode(ledRGB_Green_Pin, OUTPUT);
  pinMode(ledRGB_Blue_Pin, OUTPUT);
  pinMode(Button_1_Pin, INPUT);
  pinMode(Button_2_Pin, INPUT);
  pinMode(Button_3_Pin, INPUT);
  pinMode(Button_4_Pin, INPUT);
}

void DebugINFO_write() {
  Serial.print("SYSTEM INFO : ");
  Serial.print("MODE=");Serial.print(device_MODE);Serial.print(" --- ");
  Serial.print("CPT_1=");Serial.print(Button_1_press);Serial.print(" --- ");
  Serial.print("CPT_2=");Serial.print(Button_2_press);Serial.print(" --- ");
  Serial.print("CPT_3=");Serial.print(Button_3_press);Serial.print(" --- ");
  Serial.print("CPT_4=");Serial.print(Button_4_press);Serial.print(" --- ");
  Serial.println();  
  EEPROM.write(EEPROM_current_addr, Button_1_press);
  //EEPROM.length()
}

void DebugLED_write() {
  digitalWrite(ledDebug_Pin, !digitalRead(ledDebug_Pin));
}

// --------------------Buttons and mode management--------------------
void Button_read(){
  // --------------Button 1--------------
  int Button_Statut = 0;

  if (Button_1_press_cpt >= Min_Time_Short_Push_Button && Button_1_press_cpt < Min_Time_Long_Push_Button && (digitalRead(Button_1_Pin))==1){Button_Statut=1;}
  else if (Button_1_press_cpt >= Min_Time_Long_Push_Button && (digitalRead(Button_1_Pin))==1){Button_Statut=2;}
  
  if(Button_Statut == 1){
    Serial.println("Short Press Button 1");
    Button_1_press++;
    device_MODE=0;
    Button_1_press_cpt=0;
  }
  else if(Button_Statut == 2){
    Serial.println("Long Press Button 1");
    device_MODE=1;
    Button_1_press_cpt=0;

  }
  //if((digitalRead(Button_1_Pin))==0){Button_1_press_cpt++;Serial.println(Button_1_press_cpt);}
  //else{Button_1_press_cpt=0;}
  if((digitalRead(Button_1_Pin))==0){Button_1_press_cpt++;}
  else{Button_1_press_cpt=0;}

  // --------------Button 2--------------
  Button_Statut=0;
  if (Button_2_press_cpt >= Min_Time_Short_Push_Button && Button_2_press_cpt < Min_Time_Long_Push_Button && (digitalRead(Button_2_Pin))==1){Button_Statut=1;}
  else if (Button_2_press_cpt >= Min_Time_Long_Push_Button && (digitalRead(Button_2_Pin))==1){Button_Statut=2;}
  
  if(Button_Statut == 1){
    Serial.println("Short Press Button 2");
    Button_2_press++;
    device_MODE=0;
    Button_2_press_cpt=0;
  }
  else if(Button_Statut == 2){
    Serial.println("Long Press Button 2");
    device_MODE=2;
    Button_2_press_cpt=0;
  }
  if((digitalRead(Button_2_Pin))==0){Button_2_press_cpt++;}
  else{Button_2_press_cpt=0;}

  // --------------Button 3--------------
  Button_Statut=0;
  if (Button_3_press_cpt >= Min_Time_Short_Push_Button && Button_3_press_cpt < Min_Time_Long_Push_Button && (digitalRead(Button_3_Pin))==1){Button_Statut=1;}
  else if (Button_3_press_cpt >= Min_Time_Long_Push_Button && (digitalRead(Button_3_Pin))==1){Button_Statut=2;}
  
  if(Button_Statut == 1){
    Serial.println("Short Press Button 3");
    Button_3_press++;
    device_MODE=0;
    Button_3_press_cpt=0;
  }
  else if(Button_Statut == 2){
    Serial.println("Long Press Button 3");
    device_MODE=3;
    Button_3_press_cpt=0;
  }
  if((digitalRead(Button_3_Pin))==0){Button_3_press_cpt++;}
  else{Button_3_press_cpt=0;}

  // --------------Button 4--------------
  Button_Statut=0;
  if (Button_4_press_cpt >= Min_Time_Short_Push_Button && Button_4_press_cpt < Min_Time_Long_Push_Button && (digitalRead(Button_4_Pin))==1){Button_Statut=1;}
  else if (Button_4_press_cpt >= Min_Time_Long_Push_Button && (digitalRead(Button_4_Pin))==1){Button_Statut=2;}
  
  if(Button_Statut == 1){
    Serial.println("Short Press Button 4");
    Button_4_press++;
    device_MODE=0;
    Button_4_press_cpt=0;
  }
  else if(Button_Statut == 2){
    Serial.println("Long Press Button 4");
    device_MODE=4;
    Button_4_press_cpt=0;
  }
  if((digitalRead(Button_4_Pin))==0){Button_4_press_cpt++;}
  else{Button_4_press_cpt=0;}
}

// --------------------Dimmer LED--------------------
void DimLED_write() {
    //Serial.print(fadeDirection);
    //Serial.print("  ");
    //Serial.println(fadeValue);
    analogWrite(ledDim_Pin, fadeValue);
    if(fadeDirection==0){
      fadeValue=fadeValue+8;
    }
    else if(fadeDirection==1){
      fadeValue=fadeValue-8;
    }
    if (fadeValue > 255 && fadeValue <= 0x7FFF){
      fadeDirection=1;
      fadeValue=255;
    }
    else if (fadeValue > 0x7FFF){
      fadeDirection=0;
      fadeValue=0;
    }
}

// --------------------DS1307 RTC Clock functions--------------------
void DS1307_init(){
  rtc.begin();
  rtc.setDate(19, 2, 28);
  rtc.setTime(23, 59, 50);  
}

void DS1307_read(){
  /*rtc.getDate(year, month, day, weekday);
  rtc.getTime(hour, minute, second, period);
  if (!(second % 3)) rtc.setMode(1 - rtc.getMode());
  rtc.getTime(hour, minute, second, period);

  Serial.print(w[weekday - 1]);
  Serial.print("  ");
  Serial.print(day, DEC);
  Serial.print("/");
  Serial.print(m[month - 1]);
  Serial.print("/");
  Serial.print(year + 2000, DEC);
  Serial.print("  ");
  Serial.print(hour, DEC);
  Serial.print(":");
  Serial.print(minute, DEC);
  Serial.print(":");
  Serial.print(second, DEC);
  Serial.print(rtc.getMode() ? (period ? " PM" : " AM") : "");
  Serial.println();*/
  //delay(1000); 
}

// --------------------MLX90614 Temperature Sensor--------------------
void MLX90614_read(){
  //Serial.print("Ambient = "); 
/*  Serial.print(mlx.readAmbientTempC()); 
  Serial.print("*C\tObject = "); 
  Serial.print(mlx.readObjectTempC()); Serial.println("*C");
  Serial.print("Ambient = "); 
  Serial.print(mlx.readAmbientTempF()); 
  Serial.print("*F\tObject = "); 
  Serial.print(mlx.readObjectTempF()); Serial.println("*F");
  Serial.println();*/
  //delay(500);
}

// --------------------MAX30105 Pulse Sensor--------------------
void MAX30105_init() {
  if (!particleSensor.begin(Wire, I2C_SPEED_FAST)) //Use default I2C port, 400kHz speed
  {
    Serial.println("MAX30105 was not found. Please check wiring/power. ");
    while (1);
  }
  Serial.println("Place your index finger on the sensor with steady pressure.");

  particleSensor.setup(); //Configure sensor with default settings
  particleSensor.setPulseAmplitudeRed(0x0A); //Turn Red LED to low to indicate sensor is running
  particleSensor.setPulseAmplitudeGreen(0); //Turn off Green LED  
}

void MAX30105_read(){
  digitalWrite(ledRGB_Red_Pin, HIGH);
  long irValue = particleSensor.getIR();

  if (checkForBeat(irValue) == true)
  {
    //We sensed a beat!
    long delta = millis() - lastBeat;
    lastBeat = millis();

    beatsPerMinute = 60 / (delta / 1000.0);

    if (beatsPerMinute < 255 && beatsPerMinute > 20)
    {
      rates[rateSpot++] = (byte)beatsPerMinute; //Store this reading in the array
      rateSpot %= RATE_SIZE; //Wrap variable

      //Take average of readings
      beatAvg = 0;
      for (byte x = 0 ; x < RATE_SIZE ; x++)
        beatAvg += rates[x];
      beatAvg /= RATE_SIZE;
    }
    digitalWrite(ledRGB_Red_Pin, LOW);
  }

  Serial.print("IR=");
  Serial.print(irValue);
  Serial.print(", BPM=");
  Serial.print(beatsPerMinute);
  Serial.print(", Avg BPM=");
  Serial.print(beatAvg);

  if (irValue < 50000)
    Serial.print(" No finger?");

  Serial.println();    
}

// --------------------HC-06 Bluetooth functions--------------------
void hc06_init() {
  hc06.begin(9600);
  //hc06.write('A');
  //hc06.write('T');
  //hc06.write('\n');
}

// --------------------MPU6050 6DOF functions--------------------
void MPU6050_init() {
  check_MPU();
  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 MPU6050_read() {
  if (millis() >= lastRead + 10) {
    lastRead = millis();
    if (fifoReady()) {
      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 (fifoCountL == 42) {
        processQuat();
        sendQuat();
      }
    }
  }  
}

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();
    }
  }

  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(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(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.println(fifoCountL, DEC);
  if (fifoCountL == 42 || fifoCountL == 44) {
    return 1;
  }
  else if(fifoCountL != 0){
    resetFifo();
 }
  else return 0;
}

void resetFifo() {
  byte ctrl = regRead(0x6A);
  ctrl |= 0b00000100;
  regWrite(0x6A, ctrl);
}

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();

  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() {
  q[0] = (long) ((((unsigned long) processed_packet[0]) << 8) + ((unsigned long) processed_packet[1]));
...

This file has been truncated, please download it to see its full contents.

Arduino Main Code and examples

The Arduino Main file has the code with everything. Other code are juste here to test every peripherals

Credits

Jean Perardel

Jean Perardel

4 projects • 3 followers
Born in the Alps, I love travelling, paragliding, trekking and, of course, designing projects. :) I am very happy to inspire people with my work!

Comments