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0.5.3 GY521
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Rob Tillaart
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@ -6,6 +6,13 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
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and this project adheres to [Semantic Versioning](http://semver.org/).
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## [0.5.3] - 2024-05-08
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- fix #52, add **uint8_t getAddrress()**
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- fix #51, add **bool setDLPFMode(uint8_t mode)** and **uint8_t getDLPFMode()**
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- add const float GRAVITY=9.80655;
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- minor edits
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## [0.5.2] - 2024-01-16
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- fix #48, use float variables in example GY521_test_1.ino
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- add **void calibrate(uint16_t times)** to API
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@ -17,7 +24,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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- add some tables
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- minor edits in examples
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## [0.5.1] - 2023-12-11
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- redo initialization order.
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@ -1,7 +1,7 @@
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//
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// FILE: GY521.cpp
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// AUTHOR: Rob Tillaart
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// VERSION: 0.5.2
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// VERSION: 0.5.3
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// PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
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// URL: https://github.com/RobTillaart/GY521
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@ -53,6 +53,12 @@ bool GY521::isConnected()
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}
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uint8_t GY521::getAddress()
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{
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return _address;
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}
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void GY521::reset()
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{
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setThrottleTime(GY521_THROTTLE_TIME);
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@ -71,7 +77,7 @@ void GY521::calibrate(uint16_t times)
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// disable throttling / caching of read values.
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bool oldThrottle = _throttle;
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_throttle = false;
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// set errors to zero
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axe = aye = aze = 0;
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gxe = gye = gze = 0;
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@ -476,6 +482,30 @@ uint8_t GY521::getGyroSensitivity()
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}
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// CONFIGURATION
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// Digital Low Pass Filter datasheet P13-reg26
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bool GY521::setDLPFMode(uint8_t mode)
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{
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if (mode > 6)
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{
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_error = GY521_ERROR_PARAMETER;
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return false;
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}
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uint8_t value = getRegister(GY521_CONFIG);
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value &= 0xF8;
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value |= mode;
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return (setRegister(GY521_CONFIG, value) == GY521_OK);
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}
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uint8_t GY521::getDLPFMode()
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{
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uint8_t val = getRegister(GY521_CONFIG);
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return val & 0x07;
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}
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// GENERIC
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uint8_t GY521::setRegister(uint8_t reg, uint8_t value)
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{
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_wire->beginTransmission(_address);
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@ -2,7 +2,7 @@
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//
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// FILE: GY521.h
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// AUTHOR: Rob Tillaart
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// VERSION: 0.5.2
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// VERSION: 0.5.3
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// PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
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// URL: https://github.com/RobTillaart/GY521
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@ -11,7 +11,9 @@
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#include "Wire.h"
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#define GY521_LIB_VERSION (F("0.5.2"))
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#define GY521_LIB_VERSION (F("0.5.3"))
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const float GRAVITY = 9.80655;
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// THROTTLE TIMING
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@ -26,6 +28,7 @@
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#define GY521_ERROR_READ -1
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#define GY521_ERROR_WRITE -2
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#define GY521_ERROR_NOT_CONNECTED -3
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#define GY521_ERROR_PARAMETER -4
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// CONVERSION CONSTANTS
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@ -42,6 +45,7 @@ public:
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bool begin();
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bool isConnected();
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uint8_t getAddress();
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void reset();
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// EXPERIMENTAL
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@ -105,6 +109,10 @@ public:
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// last time sensor is actually read.
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uint32_t lastTime() { return _lastTime; };
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// CONFIGURATION
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// Digital Low Pass Filter - datasheet P13-reg26
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bool setDLPFMode(uint8_t mode); // returns false if mode > 6
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uint8_t getDLPFMode();
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// generic worker to get access to all functionality
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uint8_t setRegister(uint8_t reg, uint8_t value);
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@ -56,7 +56,6 @@ for analysis e.g. in a spreadsheet.
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- https://github.com/RobTillaart/AngleConverter
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## Breakout board
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From left to right
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@ -142,8 +141,8 @@ Drawback is that this would make the duration unpredictable.
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- **uint8_t getAccelSensitivity()** returns 0, 1, 2, 3
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- **bool setGyroSensitivity(uint8_t gs)** gs = 0,1,2,3 ==> 250, 500, 1000, 2000 degrees/second
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- **uint8_t getGyroSensitivity()** returns 0, 1, 2, 3
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= **void setNormalize(bool normalize = true)** normalizes pitch roll yaw or not. Default true.
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= **bool getNormalize()** returns flag.
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- **void setNormalize(bool normalize = true)** normalizes pitch roll yaw or not. Default true.
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- **bool getNormalize()** returns flag.
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#### Actual read
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@ -196,7 +195,25 @@ If **setNormalize(true)** return value will be 0-359.999
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If **setNormalize(true)** return value will be 0-359.999
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### Register access
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#### Digital Low Pass Filter
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See datasheet P13-reg26
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- **bool setDLPFMode(uint8_t mode)** mode = 0..6, returns false if mode > 6.
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- **uint8_t getDLPFMode()** returns the current (set) mode.
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| Mode | Acc bandwidth | delay | Gyro bandwidth | delay | Fs |
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|:----:|:-------------:|:------:|:--------------:|:------:|:-----:|
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| 0 | 260 Hz | 0.0 | 256 Hz | 1.0 | 8 kHz |
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| 1 | 184 Hz | 2.0 | 188 Hz | 1.9 | 1 kHz |
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| 2 | 94 Hz | 3.0 | 98 Hz | 2.8 | 1 kHz |
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| 3 | 44 Hz | 4.9 | 42 Hz | 4.8 | 1 kHz |
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| 4 | 21 Hz | 8.5 | 20 Hz | 8.3 | 1 kHz |
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| 5 | 10 Hz | 13.8 | 10 Hz | 13.4 | 1 kHz |
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| 6 | 5 Hz | 19.0 | 5 Hz | 18.6 | 1 kHz |
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#### Generic Register Access
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Read the register PDF for the specific value and meaning of registers.
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@ -222,26 +239,31 @@ Read the register PDF for the specific value and meaning of registers.
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#### Sensitivity Acceleration
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unit g = gravity == 9.81 m/s^2
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The strength of Earth's gravity varies with latitude (equator = 0°, poles = 90°).
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The standard value for gravity (gn) is 9.80665 m/s^2 (often 9.81 m/s^2)
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At the equator the gravity (ge) is 9.78033 m/s^2.
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| Acceleration | value | notes |
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|:--------------|:-------:|:-------:|
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| 2 g | 0 | default
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| 4 g | 1 |
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| 8 g | 2 |
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| 16 g | 3 |
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The library provides the constant GRAVITY = 9.80655
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| value | Acceleration | m/s2 | notes |
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|:-------:|:--------------|:----------:|:-------:|
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| 0 | 2 g | 19.6131 | default
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| 1 | 4 g | 39.2262 |
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| 2 | 8 g | 78.4524 |
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| 3 | 16 g | 156.9048 |
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#### Sensitivity Gyroscope
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unit dps = degrees per second.
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| Gyroscope | value | notes |
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|:--------------|:-------:|:-------:|
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| 250 dps | 0 | default
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| 500 dps | 1 |
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| 1000 dps | 2 |
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| 2000 dps | 3 |
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| value | Gyroscope | radians/sec | notes |
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|:-------:|:------------|:-------------:|:-------:|
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| 0 | 250 dps | 4.36332313 | default
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| 1 | 500 dps | 8.72664626 |
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| 2 | 1000 dps | 17.45329252 |
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| 3 | 2000 dps | 34.90658504 |
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## Operation
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@ -251,6 +273,9 @@ See examples, use with care.
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## Future
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There is no intention to implement getters and setters for all registers.
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However if one specific is needed, please open an issue.
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#### Must
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- time
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@ -8,6 +8,7 @@ GY521 KEYWORD1
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# Methods and Functions (KEYWORD2)
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begin KEYWORD2
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isConnected KEYWORD2
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getAddress KEYWORD2
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reset KEYWORD2
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wakeup KEYWORD2
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@ -43,8 +44,13 @@ getRoll KEYWORD2
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getYaw KEYWORD2
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lastTime KEYWORD2
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setDLPFMode KEYWORD2
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getDLPFMode KEYWORD2
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setRegister KEYWORD2
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getRegister KEYWORD2
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getError KEYWORD2
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@ -15,7 +15,7 @@
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"type": "git",
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"url": "https://github.com/RobTillaart/GY521.git"
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},
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"version": "0.5.2",
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"version": "0.5.3",
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"license": "MIT",
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"frameworks": "*",
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"platforms": "*",
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@ -1,5 +1,5 @@
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name=GY521
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version=0.5.2
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version=0.5.3
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author=Rob Tillaart <rob.tillaart@gmail.com>
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maintainer=Rob Tillaart <rob.tillaart@gmail.com>
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sentence=Arduino library for GY521 angle measurement
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