I am pulling data from an MPU6050 accelerometer using an Arduino uno and the outputs from the device are 2 8 bit integers. Here is my code for pulling the data from the accelerometer (example for the X-acceleration):
sensitivity = 16384;
g_level = 2;
x1 = readRegister(mpu,59,'uint8');
x2 = readRegister(mpu,60,'uint8');
X = swapbytes( [x2 x1] );
X_accel(i) = double( typecast(X,'uint16') ) / sensitivity - g_level;
The variable x1 contains bits 15 to 8 and x2 contains bits 7:0. The conversion I am using puts the code on the proper ±2 g scale I was expecting to receive but the actual values make no sense.
Attached is a plot of the acceleration values I am getting; the y-axes of the subplots should be in units of G and the accelerometer was fixed (except for the pulse at around index 65-70) and oriented with the positive z-axis set vertical (gravity in the negative z direction).
Am I converting the 8 bit integers into the 16 bit integer correctly?
Thank you!
