0.3.8 GY521

2024-09-19 16:46:11 -04:00 · 2022-10-08 15:41:16 +02:00 · 2022-10-08 15:41:16 +02:00 · 9706b6a922
commit 9706b6a922
parent 066b680ec7
9 changed files with 255 additions and 125 deletions
--- a/libraries/GY521/.arduino-ci.yml
+++ b/libraries/GY521/.arduino-ci.yml
@ -1,3 +1,18 @@
+platforms:
+  rpipico:
+    board: rp2040:rp2040:rpipico
+    package: rp2040:rp2040
+    gcc:
+      features:
+      defines:
+        - ARDUINO_ARCH_RP2040
+      warnings:
+      flags:
+
+packages:
+  rp2040:rp2040:
+    url: https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json
+
 compile:
  # Choosing to run compilation tests on 2 different Arduino platforms
  platforms:
@ -8,4 +23,5 @@ compile:
    - m4
    - esp32
    # - esp8266
-    # - mega2560
+    # - mega2560
+    - rpipico
--- a/libraries/GY521/CHANGELOG.md
+++ b/libraries/GY521/CHANGELOG.md
@ -0,0 +1,98 @@
+# Change Log GY521
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/)
+and this project adheres to [Semantic Versioning](http://semver.org/).
+
+## [0.3.8] - 2022-10-07
+
+- added CHANGELOG.md
+- fix #36 - limit values of pitch() roll() yaw() to 0..360 range.
+- rename three constants, move to .h.
+  - add constants check to unit test.
+  - updated keywords
+- updated build to include RP2040 pico
+- updated documentation a bit.
+
+## [0.3.7] - 2022-07-26
+
+- add partial reads readAccel(), readGyro() and readTemperature()
+- rename + add GY521_LIB_VERSION to examples.
+
+## [0.3.6] - 2021-12-18
+
+- update library.json, license, minor edits
+
+## [0.3.5] - 2021-10-20
+
+- update build-CI, badges 
+- fix #28 add wakeup to begin().
+
+## [0.3.4] - 2021-07-12
+
+- fix #24 improve precision
+
+## [0.3.3] - 2021-07-05
+
+- fix #22 improve maths
+
+## [0.3.2] - 2021-07-05
+
+- fix #20 support multiWire
+
+## [0.3.1] - 2021-06-13
+
+- added more unit test 
+- some initialization
+
+## [0.3.0] - 2021-04-07
+
+- fix #18 acceleration error correction (kudo's to Merkxic)
+
+## [0.2.3] - 2021-01-26
+
+- align version numbers (oops)
+
+## [0.2.2] - 2021-01-24
+
+- add interface part to readme.md
+- add GY521_registers.h
+
+## [0.2.1] - 2020-12-24
+
+- add Arduino-CI build
+- add unit tests
+
+## [0.2.0] - 2020-11-03
+
+- improve error handling
+
+## [0.1.5] - 2020-09-29
+
+- fix #6 fix maths for Teensy
+
+## [0.1.4] - 2020-09-29
+
+- fix #5 missing ;
+
+## [0.1.3] - 2020-08-07
+
+- fix ESP support
+- add pitch roll yaw demo
+
+## [0.1.2] - 2020-08-06
+
+- fix setAccelSensitivity
+- add getters
+
+## [0.1.1] - 2020-07-09
+
+- refactor
+- initial release
+
+## [0.1.0] - 2017-11-20
+
+- initial version
+
+
--- a/libraries/GY521/GY521.cpp
+++ b/libraries/GY521/GY521.cpp
@ -1,46 +1,20 @@
 //
 //    FILE: GY521.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.3.7
+// VERSION: 0.3.8
 // PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
 //     URL: https://github.com/RobTillaart/GY521
-//
-//  HISTORY:
-//  0.1.0   2017-11-20  initial version
-//  0.1.1   2020-07-09  refactor + initial release
-//  0.1.2   2020-08-06  fix setAccelSensitivity + add getters
-//  0.1.3   2020-08-07  fix ESP support + pitch roll yaw demo
-//  0.1.4   2020-09-29  fix #5 missing ;
-//  0.1.5   2020-09-29  fix #6 fix maths for Teensy
-//
-//  0.2.0   2020-11-03  improve error handling
-//  0.2.1   2020-12-24  Arduino-CI + unit tests
-//  0.2.2   2021-01-24  add interface part to readme.md
-//                      add GY521_registers.h
-//  0.2.3   2021-01-26  align version numbers (oops)
-//
-//  0.3.0   2021-04-07  fix #18 acceleration error correction (kudo's to Merkxic)
-//  0.3.1   2021-06-13  added more unit test + some initialization
-//  0.3.2   2021-07-05  fix #20 support multiWire
-//  0.3.3   2021-07-05  fix #22 improve maths
-//  0.3.4   2021-07-12  fix #24 improve precision
-//  0.3.5   2021-10-20  update build-CI, badges + #28 add wakeup to begin().
-//  0.3.6   2021-12-18  update library.json, license, minor edits
-//  0.3.7   2022-07-26  add partial reads readAccel(),
-//                      readGyro() and readTemperature()
-//                      rename + add GY521_LIB_VERSION to examples.


 #include "GY521.h"

-// keep register names in sync with BIG MPU6050 lib
+//  keep register names in sync with BIG MPU6050 lib
 #include "GY521_registers.h"

+
+//  COMMANDS
 #define GY521_WAKEUP                 0x00

-#define RAD2DEGREES                 (180.0 / PI)
-#define RAW2DPS_FACTOR              (1.0 / 131.0)
-#define RAW2G_FACTOR                (1.0 / 16384.0)


 /////////////////////////////////////////////////////
@ -85,6 +59,7 @@ bool GY521::isConnected()
  return (_wire->endTransmission() == 0);
 }

+
 void GY521::reset()
 {
  setThrottleTime(GY521_THROTTLE_TIME);
@ -114,13 +89,13 @@ int16_t GY521::read()
  {
    if ((now - _lastTime) < _throttleTime)
    {
-      // not an error.
+      //  not an error.
      return GY521_THROTTLED;
    }
  }
  _lastTime = now;

-  // Connected ?
+  //  Connected ?
  _wire->beginTransmission(_address);
  _wire->write(GY521_ACCEL_XOUT_H);
  if (_wire->endTransmission() != 0)
@ -129,64 +104,64 @@ int16_t GY521::read()
    return _error;
  }

-  // Get the data
+  //  Get the data
  int8_t n = _wire->requestFrom(_address, (uint8_t)14);
  if (n != 14)
  {
    _error = GY521_ERROR_READ;
    return _error;
  }
-  // ACCELEROMETER
-  _ax = _WireRead2();  // ACCEL_XOUT_H  ACCEL_XOUT_L
-  _ay = _WireRead2();  // ACCEL_YOUT_H  ACCEL_YOUT_L
-  _az = _WireRead2();  // ACCEL_ZOUT_H  ACCEL_ZOUT_L
-  // TEMPERATURE
-  _temperature = _WireRead2(); // TEMP_OUT_H    TEMP_OUT_L
-  // GYROSCOPE
-  _gx = _WireRead2();  // GYRO_XOUT_H   GYRO_XOUT_L
-  _gy = _WireRead2();  // GYRO_YOUT_H   GYRO_YOUT_L
-  _gz = _WireRead2();  // GYRO_ZOUT_H   GYRO_ZOUT_L
+  //  ACCELEROMETER
+  _ax = _WireRead2();           //  ACCEL_XOUT_H  ACCEL_XOUT_L
+  _ay = _WireRead2();           //  ACCEL_YOUT_H  ACCEL_YOUT_L
+  _az = _WireRead2();           //  ACCEL_ZOUT_H  ACCEL_ZOUT_L
+  //  TEMPERATURE
+  _temperature = _WireRead2();  //  TEMP_OUT_H    TEMP_OUT_L
+  //  GYROSCOPE
+  _gx = _WireRead2();           //  GYRO_XOUT_H   GYRO_XOUT_L
+  _gy = _WireRead2();           //  GYRO_YOUT_H   GYRO_YOUT_L
+  _gz = _WireRead2();           //  GYRO_ZOUT_H   GYRO_ZOUT_L

-  // duration interval
+  //  duration interval
  now = micros();
  float duration = (now - _lastMicros) * 1e-6;  // duration in seconds.
  _lastMicros = now;


-  // next lines might be merged per axis.
+  //  next lines might be merged per axis.

-  // Convert raw acceleration to g's
+  //  Convert raw acceleration to g's
  _ax *= _raw2g;
  _ay *= _raw2g;
  _az *= _raw2g;

-  // Error correct raw acceleration (in g) measurements  // #18 kudos to Merkxic
+  //  Error correct raw acceleration (in g) measurements  // #18 kudos to Merkxic
  _ax += axe;
  _ay += aye;
  _az += aze;

-  // prepare for Pitch Roll Yaw
+  //  prepare for Pitch Roll Yaw
  float _ax2 = _ax * _ax;
  float _ay2 = _ay * _ay;
  float _az2 = _az * _az;

-  _aax = atan(       _ay / sqrt(_ax2 + _az2)) * RAD2DEGREES;
-  _aay = atan(-1.0 * _ax / sqrt(_ay2 + _az2)) * RAD2DEGREES;
-  _aaz = atan(       _az / sqrt(_ax2 + _ay2)) * RAD2DEGREES;
-  // optimize #22
-  // _aax = atan(_ay / hypot(_ax, _az)) * RAD2DEGREES;
-  // _aay = atan(-1.0 * _ax / hypot(_ay, _az)) * RAD2DEGREES;
-  // _aaz = atan(_az / hypot(_ax, _ay)) * RAD2DEGREES;
+  _aax = atan(       _ay / sqrt(_ax2 + _az2)) * GY521_RAD2DEGREES;
+  _aay = atan(-1.0 * _ax / sqrt(_ay2 + _az2)) * GY521_RAD2DEGREES;
+  _aaz = atan(       _az / sqrt(_ax2 + _ay2)) * GY521_RAD2DEGREES;
+  //  optimize #22
+  //  _aax = atan(_ay / hypot(_ax, _az)) * GY521_RAD2DEGREES;
+  //  _aay = atan(-1.0 * _ax / hypot(_ay, _az)) * GY521_RAD2DEGREES;
+  //  _aaz = atan(_az / hypot(_ax, _ay)) * GY521_RAD2DEGREES;

-  // Convert to Celsius
+  //  Convert to Celsius
  _temperature = _temperature * 0.00294117647 + 36.53;  //  == /340.0  + 36.53;

-  // Convert raw Gyro to degrees/seconds
+  //  Convert raw Gyro to degrees/seconds
  _gx *= _raw2dps;
  _gy *= _raw2dps;
  _gz *= _raw2dps;

-  // Error correct raw gyro measurements.
+  //  Error correct raw gyro measurements.
  _gx += gxe;
  _gy += gye;
  _gz += gze;
@ -195,10 +170,24 @@ int16_t GY521::read()
  _gay += _gy * duration;
  _gaz += _gz * duration;

+  //  normalize internal vars
+  if (_gax < 0) _gax += 360.0;
+  else if (_gax >= 360.0) _gax -= 360.0;
+  if (_gay < 0) _gay += 360.0;
+  else if (_gay >= 360.0) _gay -= 360.0;
+  if (_gaz < 0) _gaz += 360.0;
+  else if (_gaz >= 360.0) _gaz -= 360.0;
+
  _yaw   = _gaz;
  _pitch = 0.96 * _gay + 0.04 * _aay;
  _roll  = 0.96 * _gax + 0.04 * _aax;

+  //  normalize external vars.
+  if (_pitch < 0) _pitch += 360;
+  else if (_pitch >= 360) _pitch -= 360;
+  if (_roll  < 0) _roll  += 360;
+  else if (_roll  >= 360) _roll  -= 360;
+
  return GY521_OK;
 }

@ -216,7 +205,7 @@ int16_t GY521::readAccel()
  }
  _lastTime = now;

-  // Connected ?
+  //  Connected ?
  _wire->beginTransmission(_address);
  _wire->write(GY521_ACCEL_XOUT_H);
  if (_wire->endTransmission() != 0)
@ -232,35 +221,35 @@ int16_t GY521::readAccel()
    _error = GY521_ERROR_READ;
    return _error;
  }
-  // ACCELEROMETER
-  _ax = _WireRead2();  // ACCEL_XOUT_H  ACCEL_XOUT_L
-  _ay = _WireRead2();  // ACCEL_YOUT_H  ACCEL_YOUT_L
-  _az = _WireRead2();  // ACCEL_ZOUT_H  ACCEL_ZOUT_L
+  //  ACCELEROMETER
+  _ax = _WireRead2();  //  ACCEL_XOUT_H  ACCEL_XOUT_L
+  _ay = _WireRead2();  //  ACCEL_YOUT_H  ACCEL_YOUT_L
+  _az = _WireRead2();  //  ACCEL_ZOUT_H  ACCEL_ZOUT_L

-  // next lines might be merged per axis.
+  //  next lines might be merged per axis.

-  // Convert raw acceleration to g's
+  //  Convert raw acceleration to g's
  _ax *= _raw2g;
  _ay *= _raw2g;
  _az *= _raw2g;

-  // Error correct raw acceleration (in g) measurements  // #18 kudos to Merkxic
+  //  Error correct raw acceleration (in g) measurements  // #18 kudos to Merkxic
  _ax += axe;
  _ay += aye;
  _az += aze;

-  // prepare for Pitch Roll Yaw
+  //  prepare for Pitch Roll Yaw
  float _ax2 = _ax * _ax;
  float _ay2 = _ay * _ay;
  float _az2 = _az * _az;

-  _aax = atan(       _ay / sqrt(_ax2 + _az2)) * RAD2DEGREES;
-  _aay = atan(-1.0 * _ax / sqrt(_ay2 + _az2)) * RAD2DEGREES;
-  _aaz = atan(       _az / sqrt(_ax2 + _ay2)) * RAD2DEGREES;
-  // optimize #22
-  // _aax = atan(_ay / hypot(_ax, _az)) * RAD2DEGREES;
-  // _aay = atan(-1.0 * _ax / hypot(_ay, _az)) * RAD2DEGREES;
-  // _aaz = atan(_az / hypot(_ax, _ay)) * RAD2DEGREES;
+  _aax = atan(       _ay / sqrt(_ax2 + _az2)) * GY521_RAD2DEGREES;
+  _aay = atan(-1.0 * _ax / sqrt(_ay2 + _az2)) * GY521_RAD2DEGREES;
+  _aaz = atan(       _az / sqrt(_ax2 + _ay2)) * GY521_RAD2DEGREES;
+  //  optimize #22
+  //  _aax = atan(_ay / hypot(_ax, _az)) * GY521_RAD2DEGREES;
+  //  _aay = atan(-1.0 * _ax / hypot(_ay, _az)) * GY521_RAD2DEGREES;
+  //  _aaz = atan(_az / hypot(_ax, _ay)) * GY521_RAD2DEGREES;

  return GY521_OK;
 }
@ -279,7 +268,7 @@ int16_t GY521::readGyro()
  }
  _lastTime = now;

-  // Connected ?
+  //  Connected ?
  _wire->beginTransmission(_address);
  _wire->write(GY521_GYRO_XOUT_H);
  if (_wire->endTransmission() != 0)
@ -288,31 +277,31 @@ int16_t GY521::readGyro()
    return _error;
  }

-  // Get the data
+  //  Get the data
  int8_t n = _wire->requestFrom(_address, (uint8_t)6);
  if (n != 6)
  {
    _error = GY521_ERROR_READ;
    return _error;
  }
-  // GYROSCOPE
-  _gx = _WireRead2();  // GYRO_XOUT_H   GYRO_XOUT_L
-  _gy = _WireRead2();  // GYRO_YOUT_H   GYRO_YOUT_L
-  _gz = _WireRead2();  // GYRO_ZOUT_H   GYRO_ZOUT_L
+  //  GYROSCOPE
+  _gx = _WireRead2();     //  GYRO_XOUT_H   GYRO_XOUT_L
+  _gy = _WireRead2();     //  GYRO_YOUT_H   GYRO_YOUT_L
+  _gz = _WireRead2();     //  GYRO_ZOUT_H   GYRO_ZOUT_L

-  // duration interval
+  //  duration interval
  now = micros();
-  float duration = (now - _lastMicros) * 1e-6;  // duration in seconds.
+  float duration = (now - _lastMicros) * 1e-6;  //  duration in seconds.
  _lastMicros = now;

-  // next lines might be merged per axis.
+  //  next lines might be merged per axis.

-  // Convert raw Gyro to degrees/seconds
+  //  Convert raw Gyro to degrees/seconds
  _gx *= _raw2dps;
  _gy *= _raw2dps;
  _gz *= _raw2dps;

-  // Error correct raw gyro measurements.
+  //  Error correct raw gyro measurements.
  _gx += gxe;
  _gy += gye;
  _gz += gze;
@ -321,6 +310,14 @@ int16_t GY521::readGyro()
  _gay += _gy * duration;
  _gaz += _gz * duration;

+  //  normalize internal vars
+  if (_gax < 0) _gax += 360.0;
+  else if (_gax >= 360.0) _gax -= 360.0;
+  if (_gay < 0) _gay += 360.0;
+  else if (_gay >= 360.0) _gay -= 360.0;
+  if (_gaz < 0) _gaz += 360.0;
+  else if (_gaz >= 360.0) _gaz -= 360.0;
+
  return GY521_OK;
 }

@ -336,15 +333,15 @@ int16_t GY521::readTemperature()
    return _error;
  }

-  // Get the data
+  //  Get the data
  int8_t n = _wire->requestFrom(_address, (uint8_t)2);
  if (n != 2)
  {
    _error = GY521_ERROR_READ;
    return _error;
  }
-  // TEMPERATURE
-  _temperature = _WireRead2(); // TEMP_OUT_H    TEMP_OUT_L
+  //  TEMPERATURE
+  _temperature = _WireRead2();    //  TEMP_OUT_H    TEMP_OUT_L
  return GY521_OK;
 }

@ -369,7 +366,7 @@ bool GY521::setAccelSensitivity(uint8_t as)
    }
  }
  // calculate conversion factor.  // 4 possible values => lookup table?
-  _raw2g = (1 << _afs) * RAW2G_FACTOR;
+  _raw2g = (1 << _afs) * GY521_RAW2G;
  return true;
 }

@ -395,7 +392,7 @@ bool GY521::setGyroSensitivity(uint8_t gs)
  {
    return false;
  }
-  // no need to write same value
+  //  no need to write same value
  if (((val >> 3) & 3) != _gfs)
  {
    val &= 0xE7;
@ -405,8 +402,9 @@ bool GY521::setGyroSensitivity(uint8_t gs)
      return false;
    }
  }
-  // calculate conversion factor..  // 4 possible values => lookup table?
-  _raw2dps = (1 << _gfs) * RAW2DPS_FACTOR;
+  //  calculate conversion factor..  
+  //  4 possible values => lookup table?
+  _raw2dps = (1 << _gfs) * GY521_RAW2DPS;
  return true;
 }

@ -416,7 +414,7 @@ uint8_t GY521::getGyroSensitivity()
  uint8_t val = getRegister(GY521_GYRO_CONFIG);
  if (_error != GY521_OK)
  {
-    return _error; // return and propagate error (best thing to do)
+    return _error; //  return and propagate error (best thing to do)
  }
  _gfs = (val >> 3) & 3;
  return _gfs;
@ -428,7 +426,7 @@ uint8_t GY521::setRegister(uint8_t reg, uint8_t value)
  _wire->beginTransmission(_address);
  _wire->write(reg);
  _wire->write(value);
-  // no need to do anything if not connected.
+  //  no need to do anything if not connected.
  if (_wire->endTransmission() != 0)
  {
    _error = GY521_ERROR_WRITE;
@ -458,7 +456,7 @@ uint8_t GY521::getRegister(uint8_t reg)
 }


-// to read register of 2 bytes.
+//  to read register of 2 bytes.
 int16_t GY521::_WireRead2()
 {
  int16_t tmp = _wire->read();
--- a/libraries/GY521/GY521.h
+++ b/libraries/GY521/GY521.h
@ -2,22 +2,20 @@
 //
 //    FILE: GY521.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.3.7
+// VERSION: 0.3.8
 // PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
 //     URL: https://github.com/RobTillaart/GY521
 //
-// HISTORY:
-// see GY521.cpp file
-//


 #include "Arduino.h"
 #include "Wire.h"


-#define GY521_LIB_VERSION           (F("0.3.7"))
+#define GY521_LIB_VERSION           (F("0.3.8"))


+//  THROTTLE TIMING
 #ifndef GY521_THROTTLE_TIME
 #define GY521_THROTTLE_TIME         10   // milliseconds
 #endif
@ -31,6 +29,12 @@
 #define GY521_ERROR_NOT_CONNECTED   -3


+//  CONVERSION CONSTANTS
+#define GY521_RAD2DEGREES          (180.0 / PI)
+#define GY521_RAW2DPS              (1.0 / 131.0)
+#define GY521_RAW2G                (1.0 / 16384.0)
+
+
 class GY521
 {
 public:
@ -69,10 +73,10 @@ public:
  //  SET BEFORE READ
  //  as = 0,1,2,3 ==> 2g 4g 8g 16g
  bool     setAccelSensitivity(uint8_t as);
-  uint8_t  getAccelSensitivity();          // returns 0,1,2,3
+  uint8_t  getAccelSensitivity();          //  returns 0,1,2,3
  //  gs = 0,1,2,3  ==>  250, 500, 1000, 2000 degrees/second
  bool     setGyroSensitivity(uint8_t gs);
-  uint8_t  getGyroSensitivity();           // returns 0,1,2,3
+  uint8_t  getGyroSensitivity();           //  returns 0,1,2,3

  //  CALL AFTER READ
  float    getAccelX()   { return _ax; };
@ -104,32 +108,32 @@ public:


  //  calibration errors
-  float    axe = 0, aye = 0, aze = 0;  // accelerometer errors
-  float    gxe = 0, gye = 0, gze = 0;  // gyro errors
+  float    axe = 0, aye = 0, aze = 0;  //  accelerometer errors
+  float    gxe = 0, gye = 0, gze = 0;  //  gyro errors


 private:
-  uint8_t  _address;                // I2C address
-  bool     _throttle = true;        // to prevent reading too fast
+  uint8_t  _address;                //  I2C address
+  bool     _throttle = true;        //  to prevent reading too fast
  uint16_t _throttleTime = GY521_THROTTLE_TIME;
-  uint32_t _lastTime = 0;           // to measure duration for math & throttle
-  uint32_t _lastMicros = 0;         // to measure duration for math & throttle
-  int16_t  _error = GY521_OK;       // initially everything is OK
+  uint32_t _lastTime = 0;           //  to measure duration for math & throttle
+  uint32_t _lastMicros = 0;         //  to measure duration for math & throttle
+  int16_t  _error = GY521_OK;       //  initially everything is OK

-  uint8_t  _afs = 0;                // sensitivity factor
-  float    _raw2g = 1.0/16384.0;    // raw data to gravity g's
-  float    _ax, _ay, _az;           // accelerometer raw
-  float    _aax, _aay, _aaz;        // accelerometer processed
+  uint8_t  _afs = 0;                //  sensitivity factor
+  float    _raw2g = GY521_RAW2G;    //  raw data to gravity g's
+  float    _ax, _ay, _az;           //  accelerometer raw
+  float    _aax, _aay, _aaz;        //  accelerometer processed

  uint8_t  _gfs = 0;
-  float    _raw2dps = 1.0/131.0;
-  float    _gx, _gy, _gz;           // gyro raw
-  float    _gax, _gay, _gaz;        // gyro processed.
-  float    _pitch, _roll, _yaw;     // used by user
+  float    _raw2dps = GY521_RAW2DPS;
+  float    _gx, _gy, _gz;           //  gyro raw
+  float    _gax, _gay, _gaz;        //  gyro processed.
+  float    _pitch, _roll, _yaw;     //  used by user

  float    _temperature = 0;

-  // to read register of 2 bytes.
+  //  to read register of 2 bytes.
  int16_t  _WireRead2();

  TwoWire*  _wire;
--- a/libraries/GY521/README.md
+++ b/libraries/GY521/README.md
@ -102,6 +102,11 @@ Note: for pitch roll yaw you need to call **read()**.
 returns status = GY521_OK on success.
 - **uint32_t lastTime()** last time sensor is actually read. In milliseconds. Not updated by readTemperature().

+Since version 0.3.8 the **read()** and **readGyro()** function is updated to keep the range of **getPitch()**,
+ **getRoll()** and **getYaw()** in the range 0..360 degrees. (Issue #36). 
+Problem is  that with continuous roatation in a same direction internal variables will overflow and new 
+movements (angles) will get lost as insignificant digits.
+

 #### Call after read

@ -117,9 +122,9 @@ Note that multiple calls will return the same value. One must explicitly call **
 - **float getGyroX()** idem
 - **float getGyroY()** idem
 - **float getGyroZ()** idem
- **float getPitch()** idem
- **float getRoll()** idem
- **float getYaw()** idem
+- **float getPitch()** idem. Returns 0.00 - 359.99.
+- **float getRoll()** idem. Returns 0.00 - 359.99.
+- **float getYaw()** idem. Returns 0.00 - 359.99.


 ### Register access
--- a/libraries/GY521/keywords.txt
+++ b/libraries/GY521/keywords.txt
@ -53,4 +53,9 @@ GY521_OK	LITERAL1
 GY521_THROTTLED	LITERAL1
 GY521_ERROR_READ	LITERAL1
 GY521_ERROR_WRITE	LITERAL1
-GY521_ERROR_NOT_CONNECTED	LITERAL1
+GY521_ERROR_NOT_CONNECTED	LITERAL1
+
+GY521_RAD2DEGREES	LITERAL1
+GY521_RAW2DPS	LITERAL1
+GY521_RAW2G	LITERAL1
+
--- a/libraries/GY521/library.json
+++ b/libraries/GY521/library.json
@ -15,7 +15,7 @@
    "type": "git",
    "url": "https://github.com/RobTillaart/GY521.git"
  },
-  "version": "0.3.7",
+  "version": "0.3.8",
  "license": "MIT",
  "frameworks": "arduino",
  "platforms": "*",
--- a/libraries/GY521/library.properties
+++ b/libraries/GY521/library.properties
@ -1,5 +1,5 @@
 name=GY521
-version=0.3.7
+version=0.3.8
 author=Rob Tillaart <rob.tillaart@gmail.com>
 maintainer=Rob Tillaart <rob.tillaart@gmail.com>
 sentence=Arduino library for GY521 angle measurement
--- a/libraries/GY521/test/unit_test_001.cpp
+++ b/libraries/GY521/test/unit_test_001.cpp
@ -105,6 +105,10 @@ unittest(test_constants)
  assertEqual(GY521_ERROR_NOT_CONNECTED,  -3);

  assertEqual(GY521_THROTTLE_TIME,        10);
+
+  assertEqualFloat(GY521_RAD2DEGREES, 180.0 / PI,    0.001);
+  assertEqualFloat(GY521_RAW2DPS,     1.0 / 131.0,   0.001);
+  assertEqualFloat(GY521_RAW2G,       1.0 / 16384.0, 0.000001);
 }