mirror of
https://github.com/RobTillaart/Arduino.git
synced 2024-09-19 08:36:08 -04:00
0.6.1 GY521
This commit is contained in:
Rob Tillaart
parent
060e3e07a0
commit
b8addd24e3
@ -6,6 +6,18 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
|
||||
and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
|
||||
## [0.6.1] - 2024-07-25
|
||||
Co-authored-by: Maik Menz
|
||||
- redo of **calibrate()** function, Kudos to Maik Menz.
|
||||
- Fix #59 Added orientation arguments to calibrate function (#59)
|
||||
- Fix #57 calibration error scaling
|
||||
- update library.json
|
||||
- improve initialization of gax, gay and gaz
|
||||
- add **readRaw()** to improve calibrate()
|
||||
- update readme.md
|
||||
- improve initialization
|
||||
|
||||
|
||||
## [0.6.0] - 2024-06-22
|
||||
- fix #54, calibrate() function, Kudos to jens-kuerten and MArimont3
|
||||
- minor edits
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
//
|
||||
// FILE: GY521.cpp
|
||||
// AUTHOR: Rob Tillaart
|
||||
// VERSION: 0.6.0
|
||||
// VERSION: 0.6.1
|
||||
// PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
|
||||
// URL: https://github.com/RobTillaart/GY521
|
||||
|
||||
@ -26,12 +26,11 @@ GY521::GY521(uint8_t address, TwoWire *wire)
|
||||
_address = address;
|
||||
_wire = wire;
|
||||
|
||||
_ax = _ay = _az = 0;
|
||||
_aax = _aay = _aaz = 0;
|
||||
_gx = _gy = _gz = 0;
|
||||
_pitch = 0;
|
||||
_roll = 0;
|
||||
_yaw = 0;
|
||||
// initialize errors
|
||||
// don't do it in reset, as users might want to keep them
|
||||
axe = aye = aze = 0;
|
||||
|
||||
reset();
|
||||
}
|
||||
|
||||
|
||||
@ -66,13 +65,14 @@ void GY521::reset()
|
||||
_ax = _ay = _az = 0;
|
||||
_aax = _aay = _aaz = 0;
|
||||
_gx = _gy = _gz = 0;
|
||||
_gax = _gay = _gaz = 0;
|
||||
_pitch = 0;
|
||||
_roll = 0;
|
||||
_yaw = 0;
|
||||
}
|
||||
|
||||
|
||||
void GY521::calibrate(uint16_t times)
|
||||
bool GY521::calibrate(uint16_t times, float angleX, float angleY, bool inverted)
|
||||
{
|
||||
// disable throttling / caching of read values.
|
||||
bool oldThrottle = _throttle;
|
||||
@ -89,29 +89,50 @@ void GY521::calibrate(uint16_t times)
|
||||
// adjust times if zero.
|
||||
if (times == 0) times = 1;
|
||||
|
||||
// summarize (6x) the measurements.
|
||||
// sum (6x) the measurements.
|
||||
uint16_t samples = 0;
|
||||
for (uint16_t i = 0; i < times; i++)
|
||||
{
|
||||
read();
|
||||
_axe -= getAccelX();
|
||||
_aye -= getAccelY();
|
||||
_aze -= getAccelZ();
|
||||
_gxe -= getGyroX();
|
||||
_gye -= getGyroY();
|
||||
_gze -= getGyroZ();
|
||||
if (_readRaw() == GY521_OK)
|
||||
{
|
||||
_axe -= getAccelX();
|
||||
_aye -= getAccelY();
|
||||
_aze -= getAccelZ();
|
||||
_gxe -= getGyroX();
|
||||
_gye -= getGyroY();
|
||||
_gze -= getGyroZ();
|
||||
samples++;
|
||||
}
|
||||
}
|
||||
|
||||
// adjust calibration errors so read() should get all zero's on average.
|
||||
float factor = 1.0 / times;
|
||||
axe = _axe * factor;
|
||||
aye = _aye * factor;
|
||||
aze = _aze * factor;
|
||||
if (samples == 0) return false;
|
||||
|
||||
// scale gyro calibration errors so read() should get all zero's on average.
|
||||
float factor = _raw2dps / samples;
|
||||
gxe = _gxe * factor;
|
||||
gye = _gye * factor;
|
||||
gze = _gze * factor;
|
||||
|
||||
// scale accelerometer calibration errors so read() should get all zero's on average.
|
||||
factor = _raw2g / samples;
|
||||
axe = _axe * factor;
|
||||
aye = _aye * factor;
|
||||
aze = _aze * factor;
|
||||
|
||||
// remove expected gravity from error
|
||||
angleX *= GY521_DEGREES2RAD;
|
||||
angleY *= GY521_DEGREES2RAD;
|
||||
float _gravx = -sin(angleY) * cos(angleX);
|
||||
float _gravy = sin(angleX);
|
||||
float _gravz = cos(angleY) * cos(angleX);
|
||||
axe -= _gravx;
|
||||
aye -= _gravy;
|
||||
aze += inverted ? -_gravz : _gravz;
|
||||
|
||||
// restore throttle state.
|
||||
_throttle = oldThrottle;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
@ -137,33 +158,12 @@ int16_t GY521::read()
|
||||
}
|
||||
_lastTime = now;
|
||||
|
||||
// Connected ?
|
||||
_wire->beginTransmission(_address);
|
||||
_wire->write(GY521_ACCEL_XOUT_H);
|
||||
if (_wire->endTransmission() != 0)
|
||||
int16_t rv = _readRaw();
|
||||
if (rv != GY521_OK)
|
||||
{
|
||||
_error = GY521_ERROR_WRITE;
|
||||
return _error;
|
||||
return rv;
|
||||
}
|
||||
|
||||
// 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
|
||||
|
||||
// duration interval
|
||||
now = micros();
|
||||
float duration = (now - _lastMicros) * 1e-6; // duration in seconds.
|
||||
@ -549,6 +549,43 @@ uint8_t GY521::getRegister(uint8_t reg)
|
||||
}
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// PRIVATE
|
||||
//
|
||||
int16_t GY521::_readRaw()
|
||||
{
|
||||
// Connected ?
|
||||
_wire->beginTransmission(_address);
|
||||
_wire->write(GY521_ACCEL_XOUT_H);
|
||||
if (_wire->endTransmission() != 0)
|
||||
{
|
||||
_error = GY521_ERROR_WRITE;
|
||||
return _error;
|
||||
}
|
||||
|
||||
// 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
|
||||
|
||||
return GY521_OK;
|
||||
}
|
||||
|
||||
|
||||
// to read register of 2 bytes.
|
||||
int16_t GY521::_WireRead2()
|
||||
{
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
//
|
||||
// FILE: GY521.h
|
||||
// AUTHOR: Rob Tillaart
|
||||
// VERSION: 0.6.0
|
||||
// VERSION: 0.6.1
|
||||
// PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
|
||||
// URL: https://github.com/RobTillaart/GY521
|
||||
|
||||
@ -11,7 +11,7 @@
|
||||
#include "Wire.h"
|
||||
|
||||
|
||||
#define GY521_LIB_VERSION (F("0.6.0"))
|
||||
#define GY521_LIB_VERSION (F("0.6.1"))
|
||||
|
||||
const float GRAVITY = 9.80655;
|
||||
|
||||
@ -33,6 +33,7 @@ const float GRAVITY = 9.80655;
|
||||
|
||||
// CONVERSION CONSTANTS
|
||||
#define GY521_RAD2DEGREES (180.0 / PI)
|
||||
#define GY521_DEGREES2RAD (PI / 180.0)
|
||||
#define GY521_RAW2DPS (1.0 / 131.0)
|
||||
#define GY521_RAW2G (1.0 / 16384.0)
|
||||
|
||||
@ -51,7 +52,7 @@ public:
|
||||
// EXPERIMENTAL
|
||||
// calibrate needs to be called to compensate for errors.
|
||||
// must be called after setAccelSensitivity(as); and setGyroSensitivity(gs);
|
||||
void calibrate(uint16_t times);
|
||||
bool calibrate(uint16_t times, float angleX = 0, float angleY = 0, bool inverted = false);
|
||||
|
||||
bool wakeup();
|
||||
// throttle to force delay between reads.
|
||||
@ -151,6 +152,7 @@ private:
|
||||
|
||||
bool _normalize = true; // default true.
|
||||
|
||||
int16_t _readRaw();
|
||||
// to read register of 2 bytes.
|
||||
int16_t _WireRead2();
|
||||
|
||||
|
||||
@ -24,6 +24,11 @@ It needs to be tested a lot more.
|
||||
See changelog.md for latest updates.
|
||||
|
||||
|
||||
#### 0.6.1
|
||||
|
||||
Improved **calibrate()** to support any angle.
|
||||
|
||||
|
||||
#### 0.6.0
|
||||
|
||||
Fixed a bug in calibration function, making previous versions obsolete.
|
||||
@ -92,6 +97,10 @@ This function overwrites the values of axe aye aze gxe gye gze.
|
||||
|
||||
Note the **calibrate()** function takes time, depending on the number of times.
|
||||
|
||||
Since version 0.6.1 the calibrate function is extended with optional parameters so the
|
||||
sensor can be calibrated in any angle.
|
||||
**bool calibrate(times, angleX = 0, angleY = 0, inverted = false)**
|
||||
|
||||
|
||||
#### Manual calibration
|
||||
|
||||
@ -120,14 +129,24 @@ Note call **Wire.begin()** before **begin()**.
|
||||
|
||||
### Calibrate
|
||||
|
||||
- **void calibrate(uint16_t times)** This function overwrites the values of axe aye aze gxe gye gze.
|
||||
To get "quality error" offsets, the GY521 sensor should not move during the calibration.
|
||||
The parameter times determines the number of measurements made.
|
||||
Typical values are 100 or more.
|
||||
Please note this is a time consuming function.
|
||||
- **bool calibrate(uint16_t times, float angleX = 0, float angleY = 0, bool inverted = false)**
|
||||
This function overwrites the values of axe aye aze and gxe gye gze.
|
||||
To improve the quality of the error offsets, the GY521 sensor should not move during the calibration.
|
||||
The parameter times determines the number of measurements the calibration function should make.
|
||||
Note that the actual number of samples can be less if a read of the sensor fails.
|
||||
If there is no good read at all the function returns **false**.
|
||||
Typical values for times are 100 or more.
|
||||
If times is set to 0, it will be forced to 1.
|
||||
Please note this call will be very time consuming.
|
||||
|
||||
Ideal the function **calibrate()** should continue until it is stable (how to define) for n reads.
|
||||
Drawback is that this would make the duration unpredictable.
|
||||
Drawback is that this would make the duration unpredictable.
|
||||
|
||||
New since 0.6.1 (experimental)
|
||||
The optional parameters **float angleX = 0, float angleY = 0** should be between -90 .. +90.
|
||||
These can be used if the sensor is not lying flat during calibration.
|
||||
The optional parameter **bool inverted = false** should be set to true if the sensor is
|
||||
upside down.
|
||||
|
||||
|
||||
### Throttle
|
||||
@ -293,7 +312,9 @@ However if one specific is needed, please open an issue.
|
||||
|
||||
#### Should
|
||||
|
||||
- test **calibrate()** function for different sensitivities.
|
||||
- test **calibrate()** function
|
||||
- for different sensitivities.
|
||||
- for different angles.
|
||||
|
||||
#### Could
|
||||
|
||||
|
||||
@ -8,6 +8,9 @@
|
||||
"name": "Rob Tillaart",
|
||||
"email": "Rob.Tillaart@gmail.com",
|
||||
"maintainer": true
|
||||
},
|
||||
{
|
||||
"name": "Maik Menz"
|
||||
}
|
||||
],
|
||||
"repository":
|
||||
@ -15,7 +18,7 @@
|
||||
"type": "git",
|
||||
"url": "https://github.com/RobTillaart/GY521.git"
|
||||
},
|
||||
"version": "0.6.0",
|
||||
"version": "0.6.1",
|
||||
"license": "MIT",
|
||||
"frameworks": "*",
|
||||
"platforms": "*",
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
name=GY521
|
||||
version=0.6.0
|
||||
version=0.6.1
|
||||
author=Rob Tillaart <rob.tillaart@gmail.com>
|
||||
maintainer=Rob Tillaart <rob.tillaart@gmail.com>
|
||||
sentence=Arduino library for GY521 angle measurement
|
||||
|
||||
Loading…
Reference in New Issue
Block a user