GY-63_MS5611/libraries/GY521/README.md

GY521

Arduino library for I2C GY521 accelerometer-gyroscope sensor a.k.a. MCU-6050

Description

Experimental library for GY521 a.k.a. MCU-6050

Library is work in progress, in fact extracted and extended from an old project. It needs to be tested a lot more.

It has three examples

• calibration example to determine the offsets needed
• example to read values.
• test sketch to test get / set values.

Breakout board

left to right

pin	pinname	description
0	VCC	+5V
1	GND	ground
2	SCL	I2C clock
3	SDA	I2C data
4	XDA	auxiliary data
5	XCL	auxiliary clock
6	AD0	address
7	INT	interrupt

Address

AD0 connected to GND => 0x68 AD0 connected to VCC => 0x69

Calibration (short version for now)

1. load and run calibration example
   it shows a header containing 6 numbers and 10 lines of 8 numbers
2. wait until the middle 6 of the longer lines stabilize (should all be 0)
3. copy the 6 numbers above the axe aye aze as these are the numbers needed.

Interface

Constructor

• GY521(uint8_t address = 0x69) Constructor with default address. 0x68 is also valid.
• bool begin(uint8_t sda, uint8_t scl) begin for ESP32 et al.
• bool begin()
• bool isConnected() device can be found on I2C bus.
• void reset() set all internal values to 0 and throttle time to 10 ms.
• bool wakeUp()

Throttle

• void setThrottle(bool throttle = true) throttle to force delay between reads.
• bool getThrottle() idem
• void setThrottleTime(uint16_t ti ) milliseconds, max = 65535 = 1++ minute
• uint16_t getThrottleTime() idem

Read

SET BEFORE READ

// as = 0,1,2,3 ==> 2g 4g 8g 16g

• bool setAccelSensitivity(uint8_t as) as = 0, 1, 2, 3 ==> 2g 4g 8g 16g
• 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

Actual read

• int16_t read() returns ...
• uint32_t lastTime() last time sensor is actually read. In millis().

Call after read

• 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
• float getRoll() idem
• float getYaw() idem

Register access

Read the register PDF for the specific

• uint8_t setRegister(uint8_t reg, uint8_t value)
• uint8_t getRegister(uint8_t reg)

Future

Should

• test test and test ...(ESP too)
• improve documentation
• look for math optimizations (atan, hypot, performance)
• multi Wire interface (e.g Wire1, Wire2 etc)

Could

• calibrate function in the lib ? (think not as lib might grow?)
• calibrate sketch could print code snippet to include...

documents

• check details - MPU-6000-Register-Map1.pdf

Operation

See examples, use with care