MPU

// This code gives you the 3 accelerations and 3 gyroscope values from the MPU sensor. The temp data is not retrieved. 


#include <Wire.h>

const int MPU = 0x68;
int16_t rawAcX, rawAcY, rawAcZ, rawGyX, rawGyY, rawGyZ;
float biasX = 0.0, biasY = 0.0, biasZ = 0.0;
float calibratedAcX, calibratedAcY, calibratedAcZ, calibratedGyX, calibratedGyY, calibratedGyZ;
float accelerationX, accelerationY, accelerationZ;
float gyroX, gyroY, gyroZ;

void setup() {
  Wire.begin();
  Wire.beginTransmission(MPU);
  Wire.write(0x6B);
  Wire.write(0);
  Wire.endTransmission(true);
  Serial.begin(9600);
  calibrateSensors();
}

void loop() {
  readSensors();
  calibrateValues();
  scaleAndConvert();
  displayData();
  delay(500);
}

void calibrateSensors() {
  int numCalibrationSamples = 1000;  // Adjust this based on desired calibration accuracy

  for (int i = 0; i < numCalibrationSamples; i++) {
    Wire.beginTransmission(MPU);
    Wire.write(0x3B);
    Wire.endTransmission(false);
    Wire.requestFrom(MPU, 14, true);
    rawAcX = Wire.read() << 8 | Wire.read();
    rawAcY = Wire.read() << 8 | Wire.read();
    rawAcZ = Wire.read() << 8 | Wire.read();
    Wire.read(); // Skip temperature
    Wire.read(); // Skip temperature
    rawGyX = Wire.read() << 8 | Wire.read();
    rawGyY = Wire.read() << 8 | Wire.read();
    rawGyZ = Wire.read() << 8 | Wire.read();

    biasX += rawAcX;
    biasY += rawAcY;
    biasZ += rawAcZ;
    delay(10);  // Adjust delay if necessary for stability
  }

  biasX /= numCalibrationSamples;
  biasY /= numCalibrationSamples;
  biasZ /= numCalibrationSamples;
}

void readSensors() {
  Wire.beginTransmission(MPU);
  Wire.write(0x3B);
  Wire.endTransmission(false);
  Wire.requestFrom(MPU, 14, true);
  rawAcX = Wire.read() << 8 | Wire.read();
  rawAcY = Wire.read() << 8 | Wire.read();
  rawAcZ = Wire.read() << 8 | Wire.read();
  Wire.read(); // Skip temperature
  Wire.read(); // Skip temperature
  rawGyX = Wire.read() << 8 | Wire.read();
  rawGyY = Wire.read() << 8 | Wire.read();
  rawGyZ = Wire.read() << 8 | Wire.read();
}

void calibrateValues() {
  calibratedAcX = rawAcX - biasX;
  calibratedAcY = rawAcY - biasY;
  calibratedAcZ = rawAcZ - biasZ;
  calibratedGyX = rawGyX;
  calibratedGyY = rawGyY;
  calibratedGyZ = rawGyZ;
}

void scaleAndConvert() {
  float accelSensitivity = 2.0 / 32767.0;  // Assuming ±2g full-scale range
  float gyroSensitivity = 250.0 / 32767.0; // Assuming ±250°/s full-scale range
  accelerationX = calibratedAcX * accelSensitivity * 9.81;
  accelerationY = calibratedAcY * accelSensitivity * 9.81;
  accelerationZ = calibratedAcZ * accelSensitivity * 9.81;
  gyroX = calibratedGyX * gyroSensitivity;
  gyroY = calibratedGyY * gyroSensitivity;
  gyroZ = calibratedGyZ * gyroSensitivity;
}

void displayData() {
 // Serial.print("Acceleration (m/s²): ");
  Serial.print("Xa = ");
  Serial.print(accelerationX);
  Serial.print(" | Ya = ");
  Serial.print(accelerationY);
  Serial.print(" | Za = ");
  Serial.println(accelerationZ);

  //Serial.print("Gyroscope (°/s): ");
  Serial.print("Xg = ");
  Serial.print(gyroX);
  Serial.print(" | Yg = ");
  Serial.print(gyroY);
  Serial.print(" | Zg = ");
  Serial.println(gyroZ);

  Serial.println();
}