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133 lines
3.4 KiB
Markdown
133 lines
3.4 KiB
Markdown
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[](https://github.com/marketplace/actions/arduino_ci)
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[](https://github.com/RobTillaart/GY521/blob/master/LICENSE)
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[](https://github.com/RobTillaart/GY521/releases)
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# GY521
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Arduino library for I2C GY521 accelerometer-gyroscope sensor a.k.a. MCU-6050
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## Description
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Experimental library for GY521 a.k.a. MCU-6050
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Library is work in progress, in fact extracted and extended from an old project.
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It needs to be tested a lot more.
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It has three examples
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- calibration example to determine the offsets needed
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- example to read values.
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- test sketch to test get / set values.
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## Breakout board
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left to right
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| pin | pinname | description |
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|:----:|:--------|:----------------|
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| 0 | VCC | +5V |
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| 1 | GND | ground |
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| 2 | SCL | I2C clock |
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| 3 | SDA | I2C data |
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| 4 | XDA | auxiliary data | see datasheet
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| 5 | XCL | auxiliary clock | see datasheet
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| 6 | AD0 | address |
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| 7 | INT | interrupt |
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#### Address
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AD0 connected to GND => 0x68
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AD0 connected to VCC => 0x69
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## Calibration (short version for now)
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1. load and run calibration example
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it shows a header containing 6 numbers and 10 lines of 8 numbers
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1. wait until the middle 6 of the longer lines stabilize (should all be 0)
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1. copy the 6 numbers above the axe aye aze as these are the numbers needed.
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## Interface
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### Constructor
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- **GY521(uint8_t address = 0x69)** Constructor with default address. 0x68 is also valid.
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- **bool begin()**
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- **bool isConnected()** device can be found on I2C bus.
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- **bool wakeUp()**
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### Throttle
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- **void setThrottle(bool throttle = true)** throttle to force delay between reads.
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- **bool getThrottle()** idem
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- **void setThrottleTime(uint16_t ti )** milliseconds, max = 65535 = 1++ minute
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- **uint16_t getThrottleTime()** idem
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### Read
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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)** as = 0, 1, 2, 3 ==> 2g 4g 8g 16g
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- **uint8_t getAccelSensitivity()** returns 0, 1, 2, 3
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- **bool setGyroSensitivity(uint8_t gs)** gs = 0,1,2,3 ==> 250, 500, 1000, 2000 degrees/second
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- **uint8_t getGyroSensitivity()** returns 0, 1, 2, 3
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#### Actual read
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- **int16_t read()** returns ...
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- **uint32_t lastTime()** last time sensor is actually read. In millis().
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#### Call after read
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- **float getAccelX()** idem
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- **float getAccelY()** idem
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- **float getAccelZ()** idem
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- **float getAngleX()** idem
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- **float getAngleY()** idem
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- **float getAngleZ()** idem
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- **float getTemperature()** idem
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- **float getGyroX()** idem
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- **float getGyroY()** idem
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- **float getGyroZ()** idem
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- **float getPitch()** idem
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- **float getRoll()** idem
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- **float getYaw()** idem
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### Register access
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Read the register PDF for the specific
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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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## Future
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**Should**
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- test test and test ...(ESP too)
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- improve documentation
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- look for math optimizations (atan, hypot, performance)
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**Could**
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- calibrate function in the lib ? (think not as lib might grow?)
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- calibrate sketch could print code snippet to include...
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## documents
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- check details - MPU-6000-Register-Map1.pdf
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## Operation
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See examples, use with care
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