This repository contains C program for AVR ATMega328P microcontrollers to communitcate with MPU6050 3-axis gyro + 3-axis accelerometer IMU. Computation of orientation is done on-chip, and result is streamed out through UART as Euler angle values.
Might work on other AVR ATMega family chips, need to change hardware initialization codes.
main.c contains main function
i2c.h / .c define functions for i2c operation
mpu6050_reg.h defines register addresses of mpu6050
mpu6050.h / .c define functions to operate mpu6050
uart.h / .c define functions to operate UART interface, for communication with PC
python/read_orientation_Kalman_animation.py Python script to read euler angles from the IMU and visualize it (needs matplotlib and pySerial)