#include #include "C:\Users\Matt\Quadrocopter\MPU6050.h" #define FCY 40000000UL #include #include #include "C:\Users\Matt\Quadrocopter\common.h" #include #define gyro_xsensitivity 66.5 //66.5 Dead on at last check #define gyro_ysensitivity 66.5 //72.7 Dead on at last check #define gyro_zsensitivity 65.5 #define a 0.01 void Setup_MPU6050() { //Sets sample rate to 1000/1+1 = 500Hz LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_SMPLRT_DIV, 0x01); //Disable FSync, 48Hz DLPF LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_CONFIG, 0x03); //Disable gyro self tests, scale of 500 degrees/s LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0b00001000); //Disable accel self tests, scale of +-4g, no DHPF LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0b00001000); //Freefall threshold of <|0mg| LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FF_THR, 0x00); //Freefall duration limit of 0 LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FF_DUR, 0x00); //Motion threshold of >0mg LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_THR, 0x00); //Motion duration of >0s LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DUR, 0x00); //Zero motion threshold LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_THR, 0x00); //Zero motion duration threshold LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_DUR, 0x00); //Disable sensor output to FIFO buffer LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_EN, 0x00); //AUX I2C setup //Sets AUX I2C to single master control, plus other config LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_CTRL, 0x00); //Setup AUX I2C slaves LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_ADDR, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_REG, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_CTRL, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_ADDR, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_REG, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_CTRL, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_ADDR, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_REG, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_CTRL, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_ADDR, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_REG, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_CTRL, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_ADDR, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_REG, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DO, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_CTRL, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DI, 0x00); //MPU6050_RA_I2C_MST_STATUS //Read-only //Setup INT pin and AUX I2C pass through LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_INT_PIN_CFG, 0x00); //Enable data ready interrupt LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_INT_ENABLE, 0x00); //MPU6050_RA_DMP_INT_STATUS //Read-only //MPU6050_RA_INT_STATUS 3A //Read-only //MPU6050_RA_ACCEL_XOUT_H //Read-only //MPU6050_RA_ACCEL_XOUT_L //Read-only //MPU6050_RA_ACCEL_YOUT_H //Read-only //MPU6050_RA_ACCEL_YOUT_L //Read-only //MPU6050_RA_ACCEL_ZOUT_H //Read-only //MPU6050_RA_ACCEL_ZOUT_L //Read-only //MPU6050_RA_TEMP_OUT_H //Read-only //MPU6050_RA_TEMP_OUT_L //Read-only //MPU6050_RA_GYRO_XOUT_H //Read-only //MPU6050_RA_GYRO_XOUT_L //Read-only //MPU6050_RA_GYRO_YOUT_H //Read-only //MPU6050_RA_GYRO_YOUT_L //Read-only //MPU6050_RA_GYRO_ZOUT_H //Read-only //MPU6050_RA_GYRO_ZOUT_L //Read-only //MPU6050_RA_EXT_SENS_DATA_00 //Read-only //MPU6050_RA_EXT_SENS_DATA_01 //Read-only //MPU6050_RA_EXT_SENS_DATA_02 //Read-only //MPU6050_RA_EXT_SENS_DATA_03 //Read-only //MPU6050_RA_EXT_SENS_DATA_04 //Read-only //MPU6050_RA_EXT_SENS_DATA_05 //Read-only //MPU6050_RA_EXT_SENS_DATA_06 //Read-only //MPU6050_RA_EXT_SENS_DATA_07 //Read-only //MPU6050_RA_EXT_SENS_DATA_08 //Read-only //MPU6050_RA_EXT_SENS_DATA_09 //Read-only //MPU6050_RA_EXT_SENS_DATA_10 //Read-only //MPU6050_RA_EXT_SENS_DATA_11 //Read-only //MPU6050_RA_EXT_SENS_DATA_12 //Read-only //MPU6050_RA_EXT_SENS_DATA_13 //Read-only //MPU6050_RA_EXT_SENS_DATA_14 //Read-only //MPU6050_RA_EXT_SENS_DATA_15 //Read-only //MPU6050_RA_EXT_SENS_DATA_16 //Read-only //MPU6050_RA_EXT_SENS_DATA_17 //Read-only //MPU6050_RA_EXT_SENS_DATA_18 //Read-only //MPU6050_RA_EXT_SENS_DATA_19 //Read-only //MPU6050_RA_EXT_SENS_DATA_20 //Read-only //MPU6050_RA_EXT_SENS_DATA_21 //Read-only //MPU6050_RA_EXT_SENS_DATA_22 //Read-only //MPU6050_RA_EXT_SENS_DATA_23 //Read-only //MPU6050_RA_MOT_DETECT_STATUS //Read-only //Slave out, dont care LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_DO, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_DO, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_DO, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_DO, 0x00); //More slave config LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_DELAY_CTRL, 0x00); //Reset sensor signal paths LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_SIGNAL_PATH_RESET, 0x00); //Motion detection control LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DETECT_CTRL, 0x00); //Disables FIFO, AUX I2C, FIFO and I2C reset bits to 0 LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_USER_CTRL, 0x00); //Sets clock source to gyro reference w/ PLL LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0b00000010); //Controls frequency of wakeups in accel low power mode plus the sensor standby modes LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_2, 0x00); //MPU6050_RA_BANK_SEL //Not in datasheet //MPU6050_RA_MEM_START_ADDR //Not in datasheet //MPU6050_RA_MEM_R_W //Not in datasheet //MPU6050_RA_DMP_CFG_1 //Not in datasheet //MPU6050_RA_DMP_CFG_2 //Not in datasheet //MPU6050_RA_FIFO_COUNTH //Read-only //MPU6050_RA_FIFO_COUNTL //Read-only //Data transfer to and from the FIFO buffer LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_R_W, 0x00); //MPU6050_RA_WHO_AM_I //Read-only, I2C address printf("\nMPU6050 Setup Complete"); } void MPU6050_Test_I2C() { unsigned char Data = 0x00; LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_WHO_AM_I, &Data, 1); if(Data == 0x68) { printf("\nI2C Read Test Passed, MPU6050 Address: 0x%x", Data); } else { printf("ERROR: I2C Read Test Failed, Stopping"); while(1){} } } int MPU6050_Check_Registers() { unsigned char Data = 0x00; unsigned char Failed = 0; LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_SMPLRT_DIV, &Data, 1); if(Data != 0x01) { printf("\nRegister check 1 failed, value should be 0x01, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_CONFIG, &Data, 1); if(Data != 0x03) { printf("\nRegister check 2 failed, value should be 0x03, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_CONFIG, &Data, 1); if(Data != 0b00001000) { printf("\nRegister check 3 failed, value should be 0b00001000, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_CONFIG, &Data, 1); if(Data != 0b00001000) { printf("\nRegister check 4 failed, value should be 0b00001000, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_FF_THR, &Data, 1); if(Data != 0x00) { printf("\nRegister check 5 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_FF_DUR, &Data, 1); if(Data != 0x00) { printf("\nRegister check 6 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_THR, &Data, 1); if(Data != 0x00) { printf("\nRegister check 7 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DUR, &Data, 1); if(Data != 0x00) { printf("\nRegister check 8 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_THR, &Data, 1); if(Data != 0x00) { printf("\nRegister check 9 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_DUR, &Data, 1); if(Data != 0x00) { printf("\nRegister check 10 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_EN, &Data, 1); if(Data != 0x00) { printf("\nRegister check 11 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_CTRL, &Data, 1); if(Data != 0x00) { printf("\nRegister check 12 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_ADDR, &Data, 1); if(Data != 0x00) { printf("\nRegister check 13 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_REG, &Data, 1); if(Data != 0x00) { printf("\nRegister check 14 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_CTRL, &Data, 1); if(Data != 0x00) { printf("\nRegister check 15 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_ADDR, &Data, 1); if(Data != 0x00) { printf("\nRegister check 16 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_REG, &Data, 1); if(Data != 0x00) { printf("\nRegister check 17 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_CTRL, &Data, 1); if(Data != 0x00) { printf("\nRegister check 18 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_ADDR, &Data, 1); if(Data != 0x00) { printf("\nRegister check 19 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_REG, &Data, 1); if(Data != 0x00) { printf("\nRegister check 20 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_CTRL, &Data, 1); if(Data != 0x00) { printf("\nRegister check 21 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_ADDR, &Data, 1); if(Data != 0x00) { printf("\nRegister check 22 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_REG, &Data, 1); if(Data != 0x00) { printf("\nRegister check 23 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_CTRL, &Data, 1); if(Data != 0x00) { printf("\nRegister check 24 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_ADDR, &Data, 1); if(Data != 0x00) { printf("\nRegister check 25 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_REG, &Data, 1); if(Data != 0x00) { printf("\nRegister check 26 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DO, &Data, 1); if(Data != 0x00) { printf("\nRegister check 27 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_CTRL, &Data, 1); if(Data != 0x00) { printf("\nRegister check 28 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DI, &Data, 1); if(Data != 0x00) { printf("\nRegister check 29 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_INT_PIN_CFG, &Data, 1); if(Data != 0x00) { printf("\nRegister check 30 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_INT_ENABLE, &Data, 1); if(Data != 0x00) { printf("\nRegister check 31 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_DO, &Data, 1); if(Data != 0x00) { printf("\nRegister check 32 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_DO, &Data, 1); if(Data != 0x00) { printf("\nRegister check 33 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_DO, &Data, 1); if(Data != 0x00) { printf("\nRegister check 34 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_DO, &Data, 1); if(Data != 0x00) { printf("\nRegister check 35 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_DELAY_CTRL, &Data, 1); if(Data != 0x00) { printf("\nRegister check 36 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_SIGNAL_PATH_RESET, &Data, 1); if(Data != 0x00) { printf("\nRegister check 37 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DETECT_CTRL, &Data, 1); if(Data != 0x00) { printf("\nRegister check 38 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_USER_CTRL, &Data, 1); if(Data != 0x00) { printf("\nRegister 39 check failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_1, &Data, 1); if(Data != 0x02) { printf("\nRegister check 40 failed, value should be 0x02, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_2, &Data, 1); if(Data != 0x00) { printf("\nRegister check 41 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_R_W, &Data, 1); if(Data != 0x00) { printf("\nRegister check 42 failed, value should be 0x00, was 0x%x", Data); Failed = 1; } if (Failed == 0) { printf("\nRegister value check passed"); } else { printf("\nRegister value check failed");} return(Failed); } void Calibrate_Gyros() { int x = 0; GYRO_XOUT_OFFSET_1000SUM = 0; GYRO_YOUT_OFFSET_1000SUM = 0; GYRO_ZOUT_OFFSET_1000SUM = 0; for(x = 0; x<5000; x++) { LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_H, &GYRO_XOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_L, &GYRO_XOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_H, &GYRO_YOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_L, &GYRO_YOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_H, &GYRO_ZOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_L, &GYRO_ZOUT_L, 1); GYRO_XOUT_OFFSET_1000SUM += ((GYRO_XOUT_H<<8)|GYRO_XOUT_L); GYRO_YOUT_OFFSET_1000SUM += ((GYRO_YOUT_H<<8)|GYRO_YOUT_L); GYRO_ZOUT_OFFSET_1000SUM += ((GYRO_ZOUT_H<<8)|GYRO_ZOUT_L); __delay_ms(1); } GYRO_XOUT_OFFSET = GYRO_XOUT_OFFSET_1000SUM/5000; GYRO_YOUT_OFFSET = GYRO_YOUT_OFFSET_1000SUM/5000; GYRO_ZOUT_OFFSET = GYRO_ZOUT_OFFSET_1000SUM/5000; printf("\nGyro X offset sum: %ld Gyro X offset: %d", GYRO_XOUT_OFFSET_1000SUM, GYRO_XOUT_OFFSET); printf("\nGyro Y offset sum: %ld Gyro Y offset: %d", GYRO_YOUT_OFFSET_1000SUM, GYRO_YOUT_OFFSET); printf("\nGyro Z offset sum: %ld Gyro Z offset: %d", GYRO_ZOUT_OFFSET_1000SUM, GYRO_ZOUT_OFFSET); } //Gets raw accelerometer data, performs no processing void Get_Accel_Values() { LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_XOUT_H, &ACCEL_XOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_XOUT_L, &ACCEL_XOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_YOUT_H, &ACCEL_YOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_YOUT_L, &ACCEL_YOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_ZOUT_H, &ACCEL_ZOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_ZOUT_L, &ACCEL_ZOUT_L, 1); ACCEL_XOUT = ((ACCEL_XOUT_H<<8)|ACCEL_XOUT_L); ACCEL_YOUT = ((ACCEL_YOUT_H<<8)|ACCEL_YOUT_L); ACCEL_ZOUT = ((ACCEL_ZOUT_H<<8)|ACCEL_ZOUT_L); } //Converts the already acquired accelerometer data into 3D euler angles void Get_Accel_Angles() { //ACCEL_XANGLE = 57.295*atan((float)ACCEL_YOUT/ sqrt(pow((float)ACCEL_ZOUT,2)+pow((float)ACCEL_XOUT,2)))*a + (1-a)*ACCEL_XANGLE; //ACCEL_YANGLE = 57.295*atan((float)-ACCEL_XOUT/ sqrt(pow((float)ACCEL_ZOUT,2)+pow((float)ACCEL_YOUT,2)))*a + (1-a)*ACCEL_YANGLE; ACCEL_XANGLE = 57.295*atan((float)ACCEL_YOUT/ sqrt(pow((float)ACCEL_ZOUT,2)+pow((float)ACCEL_XOUT,2))); ACCEL_YANGLE = 57.295*atan((float)-ACCEL_XOUT/ sqrt(pow((float)ACCEL_ZOUT,2)+pow((float)ACCEL_YOUT,2))); } //Function to read the gyroscope rate data and convert it into degrees/s void Get_Gyro_Rates() { LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_H, &GYRO_XOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_L, &GYRO_XOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_H, &GYRO_YOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_L, &GYRO_YOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_H, &GYRO_ZOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_L, &GYRO_ZOUT_L, 1); GYRO_XOUT = ((GYRO_XOUT_H<<8)|GYRO_XOUT_L) - GYRO_XOUT_OFFSET; GYRO_YOUT = ((GYRO_YOUT_H<<8)|GYRO_YOUT_L) - GYRO_YOUT_OFFSET; GYRO_ZOUT = ((GYRO_ZOUT_H<<8)|GYRO_ZOUT_L) - GYRO_ZOUT_OFFSET; GYRO_XRATE = (float)GYRO_XOUT/gyro_xsensitivity; GYRO_YRATE = (float)GYRO_YOUT/gyro_ysensitivity; GYRO_ZRATE = (float)GYRO_ZOUT/gyro_zsensitivity; GYRO_XANGLE += GYRO_XRATE*dt; GYRO_YANGLE += GYRO_YRATE*dt; GYRO_ZANGLE += GYRO_ZRATE*dt; } /*void Get_Gyro_Raw_Rates() { signed int GYRO_XOUT = 0; signed int GYRO_YOUT = 0; signed int GYRO_ZOUT = 0; LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_H, &GYRO_XOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_L, &GYRO_XOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_H, &GYRO_YOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_L, &GYRO_YOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_H, &GYRO_ZOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_L, &GYRO_ZOUT_L, 1); GYRO_XOUT = ((GYRO_XOUT_H<<8)|GYRO_XOUT_L) - GYRO_XOUT_OFFSET; GYRO_YOUT = ((GYRO_YOUT_H<<8)|GYRO_YOUT_L) - GYRO_YOUT_OFFSET; GYRO_ZOUT = ((GYRO_ZOUT_H<<8)|GYRO_ZOUT_L) - GYRO_ZOUT_OFFSET; GYRO_XRATERAW = GYRO_XOUT; GYRO_YRATERAW = GYRO_YOUT; GYRO_ZRATERAW = GYRO_ZOUT; }*/