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0.6.1 GY521
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Rob Tillaart
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@ -6,6 +6,18 @@ 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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## [0.6.1] - 2024-07-25
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Co-authored-by: Maik Menz
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- redo of **calibrate()** function, Kudos to Maik Menz.
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- Fix #59 Added orientation arguments to calibrate function (#59)
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- Fix #57 calibration error scaling
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- update library.json
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- improve initialization of gax, gay and gaz
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- add **readRaw()** to improve calibrate()
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- update readme.md
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- improve initialization
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## [0.6.0] - 2024-06-22
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- fix #54, calibrate() function, Kudos to jens-kuerten and MArimont3
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- minor edits
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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: 0.6.0
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// VERSION: 0.6.1
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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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@ -26,12 +26,11 @@ GY521::GY521(uint8_t address, TwoWire *wire)
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_address = address;
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_wire = wire;
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_ax = _ay = _az = 0;
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_aax = _aay = _aaz = 0;
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_gx = _gy = _gz = 0;
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_pitch = 0;
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_roll = 0;
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_yaw = 0;
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// initialize errors
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// don't do it in reset, as users might want to keep them
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axe = aye = aze = 0;
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reset();
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}
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@ -66,13 +65,14 @@ void GY521::reset()
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_ax = _ay = _az = 0;
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_aax = _aay = _aaz = 0;
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_gx = _gy = _gz = 0;
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_gax = _gay = _gaz = 0;
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_pitch = 0;
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_roll = 0;
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_yaw = 0;
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}
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void GY521::calibrate(uint16_t times)
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bool GY521::calibrate(uint16_t times, float angleX, float angleY, bool inverted)
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{
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// disable throttling / caching of read values.
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bool oldThrottle = _throttle;
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@ -89,29 +89,50 @@ void GY521::calibrate(uint16_t times)
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// adjust times if zero.
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if (times == 0) times = 1;
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// summarize (6x) the measurements.
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// sum (6x) the measurements.
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uint16_t samples = 0;
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for (uint16_t i = 0; i < times; i++)
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{
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read();
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_axe -= getAccelX();
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_aye -= getAccelY();
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_aze -= getAccelZ();
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_gxe -= getGyroX();
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_gye -= getGyroY();
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_gze -= getGyroZ();
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if (_readRaw() == GY521_OK)
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{
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_axe -= getAccelX();
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_aye -= getAccelY();
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_aze -= getAccelZ();
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_gxe -= getGyroX();
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_gye -= getGyroY();
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_gze -= getGyroZ();
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samples++;
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}
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}
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// adjust calibration errors so read() should get all zero's on average.
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float factor = 1.0 / times;
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axe = _axe * factor;
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aye = _aye * factor;
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aze = _aze * factor;
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if (samples == 0) return false;
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// scale gyro calibration errors so read() should get all zero's on average.
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float factor = _raw2dps / samples;
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gxe = _gxe * factor;
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gye = _gye * factor;
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gze = _gze * factor;
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// scale accelerometer calibration errors so read() should get all zero's on average.
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factor = _raw2g / samples;
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axe = _axe * factor;
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aye = _aye * factor;
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aze = _aze * factor;
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// remove expected gravity from error
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angleX *= GY521_DEGREES2RAD;
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angleY *= GY521_DEGREES2RAD;
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float _gravx = -sin(angleY) * cos(angleX);
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float _gravy = sin(angleX);
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float _gravz = cos(angleY) * cos(angleX);
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axe -= _gravx;
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aye -= _gravy;
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aze += inverted ? -_gravz : _gravz;
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// restore throttle state.
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_throttle = oldThrottle;
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return true;
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}
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@ -137,33 +158,12 @@ int16_t GY521::read()
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}
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_lastTime = now;
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// Connected ?
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_wire->beginTransmission(_address);
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_wire->write(GY521_ACCEL_XOUT_H);
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if (_wire->endTransmission() != 0)
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int16_t rv = _readRaw();
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if (rv != GY521_OK)
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{
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_error = GY521_ERROR_WRITE;
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return _error;
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return rv;
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}
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// Get the data
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int8_t n = _wire->requestFrom(_address, (uint8_t)14);
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if (n != 14)
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{
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_error = GY521_ERROR_READ;
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return _error;
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}
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// ACCELEROMETER
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_ax = _WireRead2(); // ACCEL_XOUT_H ACCEL_XOUT_L
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_ay = _WireRead2(); // ACCEL_YOUT_H ACCEL_YOUT_L
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_az = _WireRead2(); // ACCEL_ZOUT_H ACCEL_ZOUT_L
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// TEMPERATURE
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_temperature = _WireRead2(); // TEMP_OUT_H TEMP_OUT_L
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// GYROSCOPE
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_gx = _WireRead2(); // GYRO_XOUT_H GYRO_XOUT_L
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_gy = _WireRead2(); // GYRO_YOUT_H GYRO_YOUT_L
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_gz = _WireRead2(); // GYRO_ZOUT_H GYRO_ZOUT_L
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// duration interval
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now = micros();
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float duration = (now - _lastMicros) * 1e-6; // duration in seconds.
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@ -549,6 +549,43 @@ uint8_t GY521::getRegister(uint8_t reg)
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}
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///////////////////////////////////////////////////////////////////
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//
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// PRIVATE
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//
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int16_t GY521::_readRaw()
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{
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// Connected ?
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_wire->beginTransmission(_address);
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_wire->write(GY521_ACCEL_XOUT_H);
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if (_wire->endTransmission() != 0)
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{
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_error = GY521_ERROR_WRITE;
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return _error;
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}
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// Get the data
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int8_t n = _wire->requestFrom(_address, (uint8_t)14);
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if (n != 14)
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{
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_error = GY521_ERROR_READ;
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return _error;
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}
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// ACCELEROMETER
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_ax = _WireRead2(); // ACCEL_XOUT_H ACCEL_XOUT_L
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_ay = _WireRead2(); // ACCEL_YOUT_H ACCEL_YOUT_L
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_az = _WireRead2(); // ACCEL_ZOUT_H ACCEL_ZOUT_L
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// TEMPERATURE
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_temperature = _WireRead2(); // TEMP_OUT_H TEMP_OUT_L
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// GYROSCOPE
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_gx = _WireRead2(); // GYRO_XOUT_H GYRO_XOUT_L
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_gy = _WireRead2(); // GYRO_YOUT_H GYRO_YOUT_L
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_gz = _WireRead2(); // GYRO_ZOUT_H GYRO_ZOUT_L
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return GY521_OK;
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}
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// to read register of 2 bytes.
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int16_t GY521::_WireRead2()
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{
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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: 0.6.0
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// VERSION: 0.6.1
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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 +11,7 @@
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#include "Wire.h"
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#define GY521_LIB_VERSION (F("0.6.0"))
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#define GY521_LIB_VERSION (F("0.6.1"))
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const float GRAVITY = 9.80655;
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@ -33,6 +33,7 @@ const float GRAVITY = 9.80655;
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// CONVERSION CONSTANTS
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#define GY521_RAD2DEGREES (180.0 / PI)
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#define GY521_DEGREES2RAD (PI / 180.0)
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#define GY521_RAW2DPS (1.0 / 131.0)
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#define GY521_RAW2G (1.0 / 16384.0)
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@ -51,7 +52,7 @@ public:
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// EXPERIMENTAL
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// calibrate needs to be called to compensate for errors.
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// must be called after setAccelSensitivity(as); and setGyroSensitivity(gs);
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void calibrate(uint16_t times);
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bool calibrate(uint16_t times, float angleX = 0, float angleY = 0, bool inverted = false);
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bool wakeup();
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// throttle to force delay between reads.
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@ -151,6 +152,7 @@ private:
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bool _normalize = true; // default true.
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int16_t _readRaw();
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// to read register of 2 bytes.
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int16_t _WireRead2();
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@ -24,6 +24,11 @@ It needs to be tested a lot more.
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See changelog.md for latest updates.
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#### 0.6.1
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Improved **calibrate()** to support any angle.
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#### 0.6.0
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Fixed a bug in calibration function, making previous versions obsolete.
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@ -92,6 +97,10 @@ This function overwrites the values of axe aye aze gxe gye gze.
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Note the **calibrate()** function takes time, depending on the number of times.
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Since version 0.6.1 the calibrate function is extended with optional parameters so the
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sensor can be calibrated in any angle.
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**bool calibrate(times, angleX = 0, angleY = 0, inverted = false)**
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#### Manual calibration
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@ -120,15 +129,25 @@ Note call **Wire.begin()** before **begin()**.
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### Calibrate
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- **void calibrate(uint16_t times)** This function overwrites the values of axe aye aze gxe gye gze.
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To get "quality error" offsets, the GY521 sensor should not move during the calibration.
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The parameter times determines the number of measurements made.
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Typical values are 100 or more.
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Please note this is a time consuming function.
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- **bool calibrate(uint16_t times, float angleX = 0, float angleY = 0, bool inverted = false)**
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This function overwrites the values of axe aye aze and gxe gye gze.
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To improve the quality of the error offsets, the GY521 sensor should not move during the calibration.
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The parameter times determines the number of measurements the calibration function should make.
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Note that the actual number of samples can be less if a read of the sensor fails.
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If there is no good read at all the function returns **false**.
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Typical values for times are 100 or more.
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If times is set to 0, it will be forced to 1.
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Please note this call will be very time consuming.
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Ideal the function **calibrate()** should continue until it is stable (how to define) for n reads.
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Drawback is that this would make the duration unpredictable.
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New since 0.6.1 (experimental)
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The optional parameters **float angleX = 0, float angleY = 0** should be between -90 .. +90.
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These can be used if the sensor is not lying flat during calibration.
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The optional parameter **bool inverted = false** should be set to true if the sensor is
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upside down.
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### Throttle
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@ -293,7 +312,9 @@ However if one specific is needed, please open an issue.
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#### Should
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- test **calibrate()** function for different sensitivities.
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- test **calibrate()** function
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- for different sensitivities.
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- for different angles.
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#### Could
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@ -8,6 +8,9 @@
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"name": "Rob Tillaart",
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"email": "Rob.Tillaart@gmail.com",
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"maintainer": true
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},
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{
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"name": "Maik Menz"
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}
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],
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"repository":
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@ -15,7 +18,7 @@
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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": "0.6.0",
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"version": "0.6.1",
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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=0.6.0
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version=0.6.1
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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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