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0.3.8 GY521

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rob tillaart 2022-10-08 15:41:16 +02:00
parent 066b680ec7
commit 9706b6a922
9 changed files with 255 additions and 125 deletions
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16
libraries/GY521/.arduino-ci.yml
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@ -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:
@ -9,3 +24,4 @@ compile:
- esp32
# - esp8266
# - mega2560
- rpipico

98
libraries/GY521/CHANGELOG.md Normal file
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@ -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

86
libraries/GY521/GY521.cpp
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@ -1,34 +1,9 @@
//
// 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"
@ -36,11 +11,10 @@
// 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);
@ -170,13 +145,13 @@ int16_t GY521::read()
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;
_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)) * RAD2DEGREES;
// _aay = atan(-1.0 * _ax / hypot(_ay, _az)) * RAD2DEGREES;
// _aaz = atan(_az / hypot(_ax, _ay)) * RAD2DEGREES;
// _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
_temperature = _temperature * 0.00294117647 + 36.53; // == /340.0 + 36.53;
@ -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;
}
@ -254,13 +243,13 @@ int16_t GY521::readAccel()
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;
_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)) * RAD2DEGREES;
// _aay = atan(-1.0 * _ax / hypot(_ay, _az)) * RAD2DEGREES;
// _aaz = atan(_az / hypot(_ax, _ay)) * RAD2DEGREES;
// _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;
}
@ -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;
}
@ -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;
}
@ -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;
}

18
libraries/GY521/GY521.h
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@ -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:
@ -117,12 +121,12 @@ private:
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 _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 _raw2dps = GY521_RAW2DPS;
float _gx, _gy, _gz; // gyro raw
float _gax, _gay, _gaz; // gyro processed.
float _pitch, _roll, _yaw; // used by user

11
libraries/GY521/README.md
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@ -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

5
libraries/GY521/keywords.txt
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@ -54,3 +54,8 @@ GY521_THROTTLED LITERAL1
GY521_ERROR_READ LITERAL1
GY521_ERROR_WRITE LITERAL1
GY521_ERROR_NOT_CONNECTED LITERAL1
GY521_RAD2DEGREES LITERAL1
GY521_RAW2DPS LITERAL1
GY521_RAW2G LITERAL1

2
libraries/GY521/library.json
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@ -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": "*",

2
libraries/GY521/library.properties
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@ -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

4
libraries/GY521/test/unit_test_001.cpp
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@ -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);
}