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Arduino CI License: MIT GitHub release

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()
  • bool isConnected() device can be found on I2C bus.
  • 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)

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