mirror of
https://github.com/RobTillaart/Arduino.git
synced 2024-09-19 16:46:11 -04:00
485 lines
10 KiB
C++
485 lines
10 KiB
C++
//
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// FILE: GY521.cpp
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// AUTHOR: Rob Tillaart
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// VERSION: 0.5.1
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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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#include "GY521.h"
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// keep register names in sync with BIG MPU6050 lib
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#include "GY521_registers.h"
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// COMMANDS
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#define GY521_WAKEUP 0x00
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/////////////////////////////////////////////////////
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//
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// PUBLIC
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//
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GY521::GY521(uint8_t address, TwoWire *wire)
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{
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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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}
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bool GY521::begin()
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{
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if (isConnected())
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{
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return wakeup();
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}
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reset();
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return false;
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}
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bool GY521::isConnected()
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{
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_wire->beginTransmission(_address);
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return (_wire->endTransmission() == 0);
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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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_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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}
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bool GY521::wakeup()
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{
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_wire->beginTransmission(_address);
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_wire->write(GY521_PWR_MGMT_1);
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_wire->write(GY521_WAKEUP);
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return (_wire->endTransmission() == 0);
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}
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int16_t GY521::read()
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{
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uint32_t now = millis();
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if (_throttle)
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{
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if ((now - _lastTime) < _throttleTime)
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{
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// not an error.
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return GY521_THROTTLED;
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}
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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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{
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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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// 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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_lastMicros = now;
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// next lines might be merged per axis. (performance)
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// Convert raw acceleration to g's
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_ax *= _raw2g;
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_ay *= _raw2g;
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_az *= _raw2g;
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// Error correct raw acceleration (in g) measurements // #18 kudos to Merkxic
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_ax += axe;
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_ay += aye;
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_az += aze;
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// prepare for Pitch Roll Yaw
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float _ax2 = _ax * _ax;
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float _ay2 = _ay * _ay;
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float _az2 = _az * _az;
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_aax = atan( _ay / sqrt(_ax2 + _az2)) * GY521_RAD2DEGREES;
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_aay = atan(-1.0 * _ax / sqrt(_ay2 + _az2)) * GY521_RAD2DEGREES;
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_aaz = atan( _az / sqrt(_ax2 + _ay2)) * GY521_RAD2DEGREES;
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// optimize #22
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// _aax = atan(_ay / hypot(_ax, _az)) * GY521_RAD2DEGREES;
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// _aay = atan(-1.0 * _ax / hypot(_ay, _az)) * GY521_RAD2DEGREES;
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// _aaz = atan(_az / hypot(_ax, _ay)) * GY521_RAD2DEGREES;
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// Convert to Celsius
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_temperature = _temperature * 0.00294117647 + 36.53; // == /340.0 + 36.53;
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// Convert raw Gyro to degrees/seconds
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_gx *= _raw2dps;
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_gy *= _raw2dps;
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_gz *= _raw2dps;
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// Error correct raw gyro measurements.
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_gx += gxe;
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_gy += gye;
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_gz += gze;
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_gax += _gx * duration;
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_gay += _gy * duration;
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_gaz += _gz * duration;
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// normalize
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// _gax etc might loose precision after many iterations #36
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if (_normalize)
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{
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// correction at 375 due to the factor 0.96 in roll
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if (_gax >= 375) _gax -= 375;
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else if (_gax < 0) _gax += 375;
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// correction at 375 due to the factor 0.96 in pitch
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if (_gay >= 375) _gay -= 375;
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else if (_gay < 0) _gay += 375;
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// correction at 360
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if (_gaz >= 360) _gaz -= 360;
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else if (_gaz < 0) _gaz += 360;
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}
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// Calculate Pitch Roll Yaw
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_yaw = _gaz;
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_roll = 0.96 * _gax + 0.04 * _aax;
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_pitch = 0.96 * _gay + 0.04 * _aay;
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if (_normalize)
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{
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if (_pitch >= 360) _pitch -= 360;
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else if (_pitch < 0) _pitch += 360;
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if (_roll >= 360) _roll -= 360;
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else if (_roll < 0) _roll += 360;
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if (_yaw >= 360) _yaw -= 360;
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else if (_yaw < 0) _yaw += 360;
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}
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return GY521_OK;
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}
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int16_t GY521::readAccel()
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{
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uint32_t now = millis();
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if (_throttle)
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{
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if ((now - _lastTime) < _throttleTime)
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{
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// not an error.
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return GY521_THROTTLED;
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}
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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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{
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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)6);
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if (n != 6)
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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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// next lines might be merged per axis.
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// Convert raw acceleration to g's
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_ax *= _raw2g;
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_ay *= _raw2g;
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_az *= _raw2g;
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// Error correct raw acceleration (in g) measurements // #18 kudos to Merkxic
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_ax += axe;
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_ay += aye;
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_az += aze;
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// prepare for Pitch Roll Yaw
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float _ax2 = _ax * _ax;
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float _ay2 = _ay * _ay;
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float _az2 = _az * _az;
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_aax = atan( _ay / sqrt(_ax2 + _az2)) * GY521_RAD2DEGREES;
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_aay = atan(-1.0 * _ax / sqrt(_ay2 + _az2)) * GY521_RAD2DEGREES;
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_aaz = atan( _az / sqrt(_ax2 + _ay2)) * GY521_RAD2DEGREES;
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// optimize #22
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// _aax = atan(_ay / hypot(_ax, _az)) * GY521_RAD2DEGREES;
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// _aay = atan(-1.0 * _ax / hypot(_ay, _az)) * GY521_RAD2DEGREES;
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// _aaz = atan(_az / hypot(_ax, _ay)) * GY521_RAD2DEGREES;
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return GY521_OK;
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}
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int16_t GY521::readGyro()
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{
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uint32_t now = millis();
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if (_throttle)
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{
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if ((now - _lastTime) < _throttleTime)
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{
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// not an error.
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return GY521_THROTTLED;
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}
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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_GYRO_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)6);
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if (n != 6)
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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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// 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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_lastMicros = now;
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// next lines might be merged per axis.
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// Convert raw Gyro to degrees/seconds
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_gx *= _raw2dps;
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_gy *= _raw2dps;
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_gz *= _raw2dps;
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// Error correct raw gyro measurements.
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_gx += gxe;
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_gy += gye;
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_gz += gze;
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_gax += _gx * duration;
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_gay += _gy * duration;
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_gaz += _gz * duration;
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// normalize
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// _gax etc might loose precision after many iterations #36
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if (_normalize)
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{
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// correction at 375 due to the factor 0.96 in roll
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if (_gax >= 375) _gax -= 375;
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else if (_gax < 0) _gax += 375;
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// correction at 375 due to the factor 0.96 in pitch
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if (_gay >= 375) _gay -= 375;
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else if (_gay < 0) _gay += 375;
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// correction at 360
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if (_gaz >= 360) _gaz -= 360;
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else if (_gaz < 0) _gaz += 360;
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}
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return GY521_OK;
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}
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int16_t GY521::readTemperature()
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{
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// DO NOT THROTTLE
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_wire->beginTransmission(_address);
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_wire->write(GY521_TEMP_OUT_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)2);
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if (n != 2)
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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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// TEMPERATURE
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_temperature = _WireRead2(); // TEMP_OUT_H TEMP_OUT_L
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return GY521_OK;
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}
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bool GY521::setAccelSensitivity(uint8_t as)
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{
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_afs = as;
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if (_afs > 3) _afs = 3;
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uint8_t val = getRegister(GY521_ACCEL_CONFIG);
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if (_error != 0)
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{
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return false;
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}
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// no need to write same value
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if (((val >> 3) & 3) != _afs)
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{
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val &= 0xE7;
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val |= (_afs << 3);
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if (setRegister(GY521_ACCEL_CONFIG, val) != GY521_OK)
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{
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return false;
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}
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}
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// calculate conversion factor. // 4 possible values => lookup table?
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_raw2g = (1 << _afs) * GY521_RAW2G;
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return true;
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}
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uint8_t GY521::getAccelSensitivity()
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{
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uint8_t val = getRegister(GY521_ACCEL_CONFIG);
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if (_error != GY521_OK)
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{
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return _error; // return and propagate error (best thing to do)
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}
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_afs = (val >> 3) & 3;
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return _afs;
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}
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bool GY521::setGyroSensitivity(uint8_t gs)
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{
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_gfs = gs;
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if (_gfs > 3) _gfs = 3;
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uint8_t val = getRegister(GY521_GYRO_CONFIG);
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if (_error != 0)
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{
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return false;
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}
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// no need to write same value
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if (((val >> 3) & 3) != _gfs)
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{
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val &= 0xE7;
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val |= (_gfs << 3);
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if (setRegister(GY521_GYRO_CONFIG, val) != GY521_OK)
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{
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return false;
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}
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}
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// calculate conversion factor..
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// 4 possible values => lookup table?
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_raw2dps = (1 << _gfs) * GY521_RAW2DPS;
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return true;
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}
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uint8_t GY521::getGyroSensitivity()
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{
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uint8_t val = getRegister(GY521_GYRO_CONFIG);
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if (_error != GY521_OK)
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{
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return _error; // return and propagate error (best thing to do)
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}
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_gfs = (val >> 3) & 3;
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return _gfs;
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}
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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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_wire->write(reg);
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_wire->write(value);
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// no need to do anything if not connected.
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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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return GY521_OK;
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}
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uint8_t GY521::getRegister(uint8_t reg)
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{
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_wire->beginTransmission(_address);
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_wire->write(reg);
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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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uint8_t n = _wire->requestFrom(_address, (uint8_t) 1);
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if (n != 1)
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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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uint8_t val = _wire->read();
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return val;
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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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int16_t tmp = _wire->read();
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tmp <<= 8;
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tmp |= _wire->read();
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return tmp;
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}
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// -- END OF FILE --
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