#include <stdio.h>

#include "C:\Users\Matt\Quadrocopter\MPU6050.h"

#define FCY 40000000UL

#include <libpic30.h>

#include <p33Fj128GP202.h>

#include "C:\Users\Matt\Quadrocopter\common.h"

#include <math.h>

#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;

}*/