Arduino SensorBox firmware (with 4051 support!)

Is the data coming in supposed to only be 7bit? I'm only getting values from 0-127 on my first three analog ins and my second 3 inputs don't move at all (constant reading of '43' or something in that range).

Also is there a way to use this with i2c analog ins?

After (literally) months of banging my head against a wall trying to get a consistent and fast connection going (the last approach was using call-response, which kept breaking) this seems to work bang on (much better than my other approaches), but I'm having a hard time adapting my code to this (or vice versa).

I'm rocking a 9DOF setup with 3axis accel (pins 0, 1, 2), 3axis gyro (pins 6, 7, 3) and 3axis magnetometer (i2c). No digital I/O (other than an onboard LED for troubleshooting purposes).

Here's my attempted adaptation:

// i2c Arduino Library
#include

// 0011110b, i2c 7bit address of HMC5883
#define address 0x1E

int AccX, AccY, AccZ, GyroX, GyroY, GyroZ, MagX, MagY, MagZ;
char finish = 255;

#define aX A0
#define aY A1
#define aZ A2
#define gX A6
#define gY A7
#define gZ A3
#define LED1 5

void setup() {
//set LEDs as output pins
pinMode(LED1, OUTPUT);
pinMode(LED2, OUTPUT);

// Start serial port at 57600 bps:
Serial.begin(57600);

// Start i2c communication
Wire.begin();

// Put the HMC5883 IC into the correct operating mode
Wire.beginTransmission(address); //open communication with HMC5883
Wire.write(0x02); //select mode register
Wire.write(0x00); //continuous measurement mode

// Send a byte to establish contact until receiver responds
Wire.endTransmission();
while (establishContact()==0){delay(100);} //wait for 99 byte

}

void loop() {
// Tell the HMC5883 where to begin reading data
Wire.beginTransmission(address);
Wire.write(0x03); //select register 3, X MSB register
Wire.endTransmission();

AccX = analogRead(aX);
AccY = analogRead(aY);
AccZ = analogRead(aZ);
GyroX = analogRead(gX);
GyroY = analogRead(gY);
GyroZ = analogRead(gZ);

// Read data from each axis of magnetometer, 2 registers per axis
Wire.requestFrom(address, 6);
if(6
MagX = Wire.read()<
MagX |= Wire.read(); // X lsb
MagZ = Wire.read()<
MagZ |= Wire.read(); // Z lsb
MagY = Wire.read()<
MagY |= Wire.read(); // Y lsb
// }

// Send sensor data out
digitalWrite(LED1, HIGH);

// Accelerometer X
Serial.write(highByte(AccX));
Serial.write(lowByte(AccX));

// Accelerometer Y
Serial.write(highByte(AccY));
Serial.write(lowByte(AccY));

// Accelerometer Z
Serial.write(highByte(AccZ));
Serial.write(lowByte(AccZ));

// Gyroscope X
Serial.write(highByte(GyroX));
Serial.write(lowByte(GyroX));

// Gyroscope Y
Serial.write(highByte(GyroY));
Serial.write(lowByte(GyroY));

// Gyroscope Z
Serial.write(highByte(GyroZ));
Serial.write(lowByte(GyroZ));

// Magnetometer X
Serial.write(highByte(MagX));
Serial.write(lowByte(MagX));

// Magnetometer Y
Serial.write(highByte(MagY));
Serial.write(lowByte(MagY));

// Magnetometer Z
Serial.write(highByte(MagZ));
Serial.write(lowByte(MagZ));

Serial.write(finish);
Serial.write(finish);
digitalWrite(LED1,LOW);
delay(10);

if(establishContact()==1) {
while(establishContact()==0) {delay(100);}//go into idle mode
}
}
}

char establishContact(void){
if (Serial.available() > 0) {
char checkup = Serial.read();
if (checkup==99) return 1;
else return 0;
}
else return 0;
}