ATmega32A + MPU6050 IMU Data Fusion

This project demonstrates how to interface the MPU6050 (3-axis accelerometer + 3-axis gyroscope) with an ATmega32A microcontroller over I²C, and perform sensor fusion using a complementary filter.
It outputs real-time orientation (angles) over USART at 9600 baud.

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✨ Features

• MPU6050 Initialization

  • Configures power management, sample rate, and gyro settings.
  • I²C communication implemented with bit-banged protocol on PORTC.

• Gyroscope & Accelerometer Data

  • Reads raw 16-bit values for X, Y, Z axes.
  • Converts readings into degrees using scaling factors.

• Complementary Filter

  • Combines accelerometer (long-term stable) and gyroscope (short-term accurate) data.
  • Outputs fused angles for roll, pitch, and yaw.

• Calibration

  • Gyroscope offset calibration routine.
  • Averages multiple samples for baseline correction.

• USART Debug Output

  • Sends sensor data as ASCII text at 9600 baud.
  • Includes helper functions:
    • my_putstr() → print string
    • my_put_int() → print integer
    • my_put_float() → print float with precision

• Timer Interrupt

  • Uses Timer0 overflow interrupt for integration timing.
  • Ensures consistent sampling interval.

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🛠 Requirements

Hardware

• ATmega32A microcontroller (8 MHz).
• MPU6050 IMU module.
• Serial adapter (USB-UART, e.g., CH340/FTDI).
• Optional: PC with terminal software (PuTTY, RealTerm, Arduino Serial Monitor).

Software

• CodeVisionAVR

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🚀 How It Works

1. Initialization

   • USART configured at 9600 baud.
   • Bit-banged I²C initialized on PORTC.
   • MPU6050 configured for active mode.
   • Calibration routine collects gyro offsets.

2. Main Loop

   • Reads raw accelerometer and gyroscope data.
   • Applies complementary filter:

     fused_angle = α * (previous_angle + gyro_rate * dt) + β * accel_angle
     

     with α ≈ 0.98, β ≈ 0.02.
   • Normalizes angles to [0–360°].

3. Output

   • Angles printed as ASCII values via USART.
   • Example output:

     123    45    302
     

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▶️ Usage

1. Wire the MPU6050 to ATmega32A
   • SDA → PORTC.1
   • SCL → PORTC.0
   • VCC → 5V (or 3.3V depending on module)
   • GND → GND