mirror of
https://github.com/RobTillaart/Arduino.git
synced 2024-09-19 16:46:11 -04:00
0.4.0 GY521
This commit is contained in:
Rob Tillaart
parent
c8b3e59904
commit
eb8bc6741e
@ -6,6 +6,17 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
|
||||
and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
|
||||
|
||||
## [0.4.0] - 2023-06-11
|
||||
- fix #42 roll + pitch "jumps" after full rotation.
|
||||
- fixed normalization code.
|
||||
- made normalization conditional
|
||||
- add **void setNormalize(bool normalize = true)**
|
||||
- add **bool getNormalize()**
|
||||
- update readme.md
|
||||
- minor edits
|
||||
|
||||
----
|
||||
|
||||
## [0.3.9] - 2023-01-27
|
||||
- update GitHub actions
|
||||
- update license 2023
|
||||
@ -13,7 +24,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
|
||||
- update readme.md
|
||||
- minor edits
|
||||
|
||||
|
||||
## [0.3.8] - 2022-10-07
|
||||
- added CHANGELOG.md
|
||||
- fix #36 - limit values of pitch() roll() yaw() to 0..360 range.
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
//
|
||||
// FILE: GY521.cpp
|
||||
// AUTHOR: Rob Tillaart
|
||||
// VERSION: 0.3.9
|
||||
// VERSION: 0.4.0
|
||||
// PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
|
||||
// URL: https://github.com/RobTillaart/GY521
|
||||
|
||||
@ -128,7 +128,7 @@ int16_t GY521::read()
|
||||
_lastMicros = now;
|
||||
|
||||
|
||||
// next lines might be merged per axis.
|
||||
// next lines might be merged per axis. (performance)
|
||||
|
||||
// Convert raw acceleration to g's
|
||||
_ax *= _raw2g;
|
||||
@ -170,23 +170,37 @@ 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;
|
||||
// normalize
|
||||
// _gax etc might loose precision after many iterations #36
|
||||
if (_normalize)
|
||||
{
|
||||
// correction at 375 due to the factor 0.96 in roll
|
||||
if (_gax >= 375) _gax -= 375;
|
||||
else if (_gax < 0) _gax += 375;
|
||||
// correction at 375 due to the factor 0.96 in pitch
|
||||
if (_gay >= 375) _gay -= 375;
|
||||
else if (_gay < 0) _gay += 375;
|
||||
// correction at 360
|
||||
if (_gaz >= 360) _gaz -= 360;
|
||||
else if (_gaz < 0) _gaz += 360;
|
||||
}
|
||||
|
||||
|
||||
// Calculate Pitch Roll Yaw
|
||||
_yaw = _gaz;
|
||||
_pitch = 0.96 * _gay + 0.04 * _aay;
|
||||
_roll = 0.96 * _gax + 0.04 * _aax;
|
||||
_pitch = 0.96 * _gay + 0.04 * _aay;
|
||||
|
||||
// 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;
|
||||
|
||||
if (_normalize)
|
||||
{
|
||||
if (_pitch >= 360) _pitch -= 360;
|
||||
else if (_pitch < 0) _pitch += 360;
|
||||
if (_roll >= 360) _roll -= 360;
|
||||
else if (_roll < 0) _roll += 360;
|
||||
if (_yaw >= 360) _yaw -= 360;
|
||||
else if (_yaw < 0) _yaw += 360;
|
||||
}
|
||||
|
||||
return GY521_OK;
|
||||
}
|
||||
@ -310,14 +324,21 @@ 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;
|
||||
|
||||
// normalize
|
||||
// _gax etc might loose precision after many iterations #36
|
||||
if (_normalize)
|
||||
{
|
||||
// correction at 375 due to the factor 0.96 in roll
|
||||
if (_gax >= 375) _gax -= 375;
|
||||
else if (_gax < 0) _gax += 375;
|
||||
// correction at 375 due to the factor 0.96 in pitch
|
||||
if (_gay >= 375) _gay -= 375;
|
||||
else if (_gay < 0) _gay += 375;
|
||||
// correction at 360
|
||||
if (_gaz >= 360) _gaz -= 360;
|
||||
else if (_gaz < 0) _gaz += 360;
|
||||
}
|
||||
return GY521_OK;
|
||||
}
|
||||
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
//
|
||||
// FILE: GY521.h
|
||||
// AUTHOR: Rob Tillaart
|
||||
// VERSION: 0.3.9
|
||||
// VERSION: 0.4.0
|
||||
// PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
|
||||
// URL: https://github.com/RobTillaart/GY521
|
||||
//
|
||||
@ -12,7 +12,7 @@
|
||||
#include "Wire.h"
|
||||
|
||||
|
||||
#define GY521_LIB_VERSION (F("0.3.9"))
|
||||
#define GY521_LIB_VERSION (F("0.4.0"))
|
||||
|
||||
|
||||
// THROTTLE TIMING
|
||||
@ -58,6 +58,18 @@ public:
|
||||
uint16_t getThrottleTime() { return _throttleTime; };
|
||||
|
||||
|
||||
// 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
|
||||
// gs = 0,1,2,3 ==> 250, 500, 1000, 2000 degrees/second
|
||||
bool setGyroSensitivity(uint8_t gs);
|
||||
uint8_t getGyroSensitivity(); // returns 0,1,2,3
|
||||
// normalizes Pitch Roll and Yaw.
|
||||
void setNormalize(bool normalize = true) { _normalize = normalize; };
|
||||
bool getNormalize() { return _normalize; };
|
||||
|
||||
|
||||
// READ THE SENSOR
|
||||
// returns GY521_OK or one of the error codes above.
|
||||
int16_t read();
|
||||
@ -70,13 +82,6 @@ public:
|
||||
// read temperature only, does not affect throttle.
|
||||
int16_t readTemperature();
|
||||
|
||||
// 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
|
||||
// gs = 0,1,2,3 ==> 250, 500, 1000, 2000 degrees/second
|
||||
bool setGyroSensitivity(uint8_t gs);
|
||||
uint8_t getGyroSensitivity(); // returns 0,1,2,3
|
||||
|
||||
// CALL AFTER READ
|
||||
float getAccelX() { return _ax; };
|
||||
@ -128,11 +133,13 @@ private:
|
||||
uint8_t _gfs = 0;
|
||||
float _raw2dps = GY521_RAW2DPS;
|
||||
float _gx, _gy, _gz; // gyro raw
|
||||
float _gax, _gay, _gaz; // gyro processed.
|
||||
float _gax, _gay, _gaz; // gyro processed
|
||||
float _pitch, _roll, _yaw; // used by user
|
||||
|
||||
float _temperature = 0;
|
||||
|
||||
bool _normalize = true; // default true.
|
||||
|
||||
// to read register of 2 bytes.
|
||||
int16_t _WireRead2();
|
||||
|
||||
|
||||
@ -18,6 +18,8 @@ Experimental library for GY521 a.k.a. MCU-6050.
|
||||
Library is work in progress, in fact it is extracted and extended from an old project.
|
||||
It needs to be tested a lot more.
|
||||
|
||||
See changelog.md for latest updates.
|
||||
|
||||
|
||||
#### Examples
|
||||
|
||||
@ -93,6 +95,8 @@ AD0 connected to VCC => 0x69
|
||||
- **uint8_t getAccelSensitivity()** returns 0, 1, 2, 3
|
||||
- **bool setGyroSensitivity(uint8_t gs)** gs = 0,1,2,3 ==> 250, 500, 1000, 2000 degrees/second
|
||||
- **uint8_t getGyroSensitivity()** returns 0, 1, 2, 3
|
||||
= **void setNormalize(bool normalize = true)** normalizes pitch roll yaw or not. Default true.
|
||||
= **bool getNormalize()** returns flag.
|
||||
|
||||
|
||||
#### Actual read
|
||||
@ -108,28 +112,33 @@ 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 rotation in a same direction internal variables will overflow and new
|
||||
**getRoll()** and **getYaw()** in the range 0..359.999 degrees. (Issue #36).
|
||||
Problem is that with continuous rotation in a same direction internal variables will overflow and new
|
||||
movements (angles) will get lost as insignificant digits.
|
||||
|
||||
In version 0.4.0 the normalization of pitch, roll and yaw is fixed and made conditional. (Issue #42).
|
||||
|
||||
#### Call after read
|
||||
|
||||
#### Calls after read
|
||||
|
||||
Note that multiple calls will return the same value. One must explicitly call **read()** to get new values.
|
||||
|
||||
- **float getAccelX()** idem
|
||||
- **float getAccelY()** idem
|
||||
- **float getAccelZ()** idem
|
||||
- **float getAngleX()** idem
|
||||
- **float getAngleY()** idem
|
||||
- **float getAngleZ()** idem
|
||||
- **float getTemperature()** idem
|
||||
- **float getGyroX()** idem
|
||||
- **float getGyroY()** idem
|
||||
- **float getGyroZ()** 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.
|
||||
- **float getAccelX()** idem.
|
||||
- **float getAccelY()** idem.
|
||||
- **float getAccelZ()** idem.
|
||||
- **float getAngleX()** idem.
|
||||
- **float getAngleY()** idem.
|
||||
- **float getAngleZ()** idem.
|
||||
- **float getTemperature()** idem.
|
||||
- **float getGyroX()** idem.
|
||||
- **float getGyroY()** idem.
|
||||
- **float getGyroZ()** idem.
|
||||
- **float getPitch()** idem. May return any number.
|
||||
If **setNormalize(true)** return value will be 0-359.999
|
||||
- **float getRoll()** idem. May return any number.
|
||||
If **setNormalize(true)** return value will be 0-359.999
|
||||
- **float getYaw()** idem. May return any number.
|
||||
If **setNormalize(true)** return value will be 0-359.999
|
||||
|
||||
|
||||
### Register access
|
||||
@ -155,11 +164,11 @@ See examples, use with care
|
||||
#### Must
|
||||
|
||||
- improve documentation
|
||||
- test test and test ...(ESP too)
|
||||
|
||||
|
||||
#### Should
|
||||
|
||||
- test test and test ...(ESP too)
|
||||
|
||||
#### Could
|
||||
|
||||
- calibrate sketch could print code snippet to include...
|
||||
|
||||
@ -20,6 +20,8 @@ setThrottle KEYWORD2
|
||||
getThrottle KEYWORD2
|
||||
setThrottleTime KEYWORD2
|
||||
getThrottleTime KEYWORD2
|
||||
setNormalize KEYWORD2
|
||||
getNormalize KEYWORD2
|
||||
|
||||
setAccelSensitivity KEYWORD2
|
||||
getAccelSensitivity KEYWORD2
|
||||
|
||||
@ -15,7 +15,7 @@
|
||||
"type": "git",
|
||||
"url": "https://github.com/RobTillaart/GY521.git"
|
||||
},
|
||||
"version": "0.3.9",
|
||||
"version": "0.4.0",
|
||||
"license": "MIT",
|
||||
"frameworks": "arduino",
|
||||
"platforms": "*",
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
name=GY521
|
||||
version=0.3.9
|
||||
version=0.4.0
|
||||
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