mirror of
https://github.com/RobTillaart/Arduino.git
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162 lines
4.8 KiB
C++
162 lines
4.8 KiB
C++
#pragma once
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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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// PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
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// URL: https://github.com/RobTillaart/GY521
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#include "Arduino.h"
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#include "Wire.h"
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#define GY521_LIB_VERSION (F("0.6.0"))
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const float GRAVITY = 9.80655;
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// THROTTLE TIMING
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#ifndef GY521_THROTTLE_TIME
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#define GY521_THROTTLE_TIME 10 // milliseconds
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#endif
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// ERROR CODES
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#define GY521_OK 0
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#define GY521_THROTTLED 1
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#define GY521_ERROR_READ -1
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#define GY521_ERROR_WRITE -2
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#define GY521_ERROR_NOT_CONNECTED -3
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#define GY521_ERROR_PARAMETER -4
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// CONVERSION CONSTANTS
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#define GY521_RAD2DEGREES (180.0 / PI)
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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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class GY521
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{
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public:
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// address == 0x68 or 0x69
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GY521(uint8_t address = 0x69, TwoWire *wire = &Wire);
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bool begin();
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bool isConnected();
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uint8_t getAddress();
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void reset();
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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 wakeup();
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// throttle to force delay between reads.
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void setThrottle(bool throttle = true) { _throttle = throttle; };
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bool getThrottle() { return _throttle; };
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// 0..65535 max milliseconds == roughly 1 minute.
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void setThrottleTime(uint16_t ti ) { _throttleTime = ti; };
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uint16_t getThrottleTime() { return _throttleTime; };
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// SET BEFORE READ
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// as = 0,1,2,3 ==> 2g 4g 8g 16g
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bool setAccelSensitivity(uint8_t as);
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uint8_t getAccelSensitivity(); // returns 0,1,2,3
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// gs = 0,1,2,3 ==> 250, 500, 1000, 2000 degrees/second
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bool setGyroSensitivity(uint8_t gs);
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uint8_t getGyroSensitivity(); // returns 0,1,2,3
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// normalizes Pitch Roll and Yaw.
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void setNormalize(bool normalize = true) { _normalize = normalize; };
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bool getNormalize() { return _normalize; };
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// READ THE SENSOR
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// returns GY521_OK or one of the error codes above.
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int16_t read();
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// optimized partial reading
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// read accelerometer only
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int16_t readAccel();
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// read gyroscope only can be done too
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// however for pitch roll yaw you need all.
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int16_t readGyro();
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// read temperature only, does not affect throttle.
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int16_t readTemperature();
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// CALL AFTER READ
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float getAccelX() { return _ax; };
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float getAccelY() { return _ay; };
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float getAccelZ() { return _az; };
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float getAngleX() { return _aax; };
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float getAngleY() { return _aay; };
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float getAngleZ() { return _aaz; };
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float getTemperature() { return _temperature; };
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float getGyroX() { return _gx; };
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float getGyroY() { return _gy; };
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float getGyroZ() { return _gz; };
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// EXPERIMENTAL
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// pitch, roll and yaw is work in progress.
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float getPitch() { return _pitch; };
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float getRoll() { return _roll; };
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float getYaw() { return _yaw; };
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// last time sensor is actually read.
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uint32_t lastTime() { return _lastTime; };
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// CONFIGURATION
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// Digital Low Pass Filter - datasheet P13-reg26
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bool setDLPFMode(uint8_t mode); // returns false if mode > 6
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uint8_t getDLPFMode();
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// generic worker to get access to all functionality
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uint8_t setRegister(uint8_t reg, uint8_t value);
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uint8_t getRegister(uint8_t reg);
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// get last error and reset error to OK.
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int16_t getError() { return _error; _error = GY521_OK; };
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// calibration errors
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float axe = 0, aye = 0, aze = 0; // accelerometer errors
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float gxe = 0, gye = 0, gze = 0; // gyro errors
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private:
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uint8_t _address; // I2C address
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bool _throttle = true; // to prevent reading too fast
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uint16_t _throttleTime = GY521_THROTTLE_TIME;
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uint32_t _lastTime = 0; // to measure duration for math & throttle
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uint32_t _lastMicros = 0; // to measure duration for math & throttle
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int16_t _error = GY521_OK; // initially everything is OK
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uint8_t _afs = 0; // sensitivity factor
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float _raw2g = GY521_RAW2G; // raw data to gravity g's
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float _ax, _ay, _az; // accelerometer raw
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float _aax, _aay, _aaz; // accelerometer processed
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uint8_t _gfs = 0;
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float _raw2dps = GY521_RAW2DPS;
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float _gx, _gy, _gz; // gyro raw
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float _gax, _gay, _gaz; // gyro processed
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float _pitch, _roll, _yaw; // used by user
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float _temperature = 0;
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bool _normalize = true; // default true.
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// to read register of 2 bytes.
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int16_t _WireRead2();
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TwoWire* _wire;
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};
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// -- END OF FILE --
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