Read MPU6050 using ATMEGA 2560

Development Boards Arduino
13

OK thanks :slight_smile:

i’m going to detect the orientation of a vehicle and by that I want to find a way to driver’s driving behavior

// Combined definitions for the FS_SEL values
#define MPU6050_FS_SEL_0 (0)
#define MPU6050_FS_SEL_1 (bit(MPU6050_FS_SEL0))
#define MPU6050_FS_SEL_2 (bit(MPU6050_FS_SEL1))
#define MPU6050_FS_SEL_3 (bit(MPU6050_FS_SEL1)|bit(MPU6050_FS_SEL0))

// Alternative names for the combined definitions
// The name uses the range in degrees per second.
#define MPU6050_FS_SEL_250  MPU6050_FS_SEL_0
#define MPU6050_FS_SEL_500  MPU6050_FS_SEL_1
#define MPU6050_FS_SEL_1000 MPU6050_FS_SEL_2
#define MPU6050_FS_SEL_2000 MPU6050_FS_SEL_3

/*
Those were define on top of the code i used
*/

void setup()
{      
  int error;
  uint8_t c;
  accel_t_gyro_union accel_t_gyro;

/*1st attempt
  mpu.setFullScaleAccelRange(MPU6050_FS_SEL_3);
*/

/*
2nd attempt
MPU6050_FS_SEL_3;
*/

/*and many I cant remember other things i tried
coz i tried it month ago*/


  Serial.begin(19200);
  
  // 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 = MPU6050_read (MPU6050_WHO_AM_I, &c, 1);
  

  // According to the datasheet, the 'sleep' bit
  // should read a '1'. But I read a '0'.
  // That bit has to be cleared, since the sensor
  // is in sleep mode at power-up. Even if the
  // bit reads '0'.
  error = MPU6050_read (MPU6050_PWR_MGMT_2, &c, 1);
  
  // Clear the 'sleep' bit to start the sensor.
  MPU6050_write_reg (MPU6050_PWR_MGMT_1, 0);
  
  //Initialize the angles
  calibrate_sensors();  
  set_last_read_angle_data(millis(), 0, 0, 0, 0, 0, 0, 0, 0, 0);
  
  
  // Get raw acceleration values
  //float G_CONVERT = 16384;
  float accel_x = accel_t_gyro.value.x_accel;
  float accel_y = accel_t_gyro.value.y_accel;
  float accel_z = accel_t_gyro.value.z_accel;
  
  // Get angle values from accelerometer
  float RADIANS_TO_DEGREES = 180/3.14159;
//  float accel_vector_length = sqrt(pow(accel_x,2) + pow(accel_y,2) + pow(accel_z,2));
  float accel_angle_x = atan(accel_y/sqrt(pow(accel_x,2) + pow(accel_z,2)))*RADIANS_TO_DEGREES;
  float accel_angle_y = atan(-1*accel_x/sqrt(pow(accel_y,2) + pow(accel_z,2)))*RADIANS_TO_DEGREES;


  float accel_angle_z = 0;
  
  kalmanX.setAngle(accel_angle_x); // Set starting angle
  kalmanY.setAngle(accel_angle_y);

}