GY-63_MS5611/libraries/GY521/GY521.h
2023-11-02 15:58:05 +01:00

150 lines
4.4 KiB
C++

#pragma once
//
// FILE: GY521.h
// AUTHOR: Rob Tillaart
// VERSION: 0.4.1
// PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
// URL: https://github.com/RobTillaart/GY521
#include "Arduino.h"
#include "Wire.h"
#define GY521_LIB_VERSION (F("0.4.1"))
// THROTTLE TIMING
#ifndef GY521_THROTTLE_TIME
#define GY521_THROTTLE_TIME 10 // milliseconds
#endif
// ERROR CODES
#define GY521_OK 0
#define GY521_THROTTLED 1
#define GY521_ERROR_READ -1
#define GY521_ERROR_WRITE -2
#define GY521_ERROR_NOT_CONNECTED -3
// CONVERSION CONSTANTS
#define GY521_RAD2DEGREES (180.0 / PI)
#define GY521_RAW2DPS (1.0 / 131.0)
#define GY521_RAW2G (1.0 / 16384.0)
class GY521
{
public:
GY521(uint8_t address = 0x69, TwoWire *wire = &Wire); // 0x68 or 0x69
#if defined (ESP8266) || defined(ESP32)
bool begin(uint8_t sda, uint8_t scl);
#endif
bool begin();
bool isConnected();
void reset();
bool wakeup();
// throttle to force delay between reads.
void setThrottle(bool throttle = true) { _throttle = throttle; };
bool getThrottle() { return _throttle; };
// 0..65535 (max milliseconds == roughly 1 minute.
void setThrottleTime(uint16_t ti ) { _throttleTime = ti; };
uint16_t getThrottleTime() { return _throttleTime; };
// SET BEFORE READ
// as = 0,1,2,3 ==> 2g 4g 8g 16g
bool setAccelSensitivity(uint8_t as);
uint8_t getAccelSensitivity(); // returns 0,1,2,3
// gs = 0,1,2,3 ==> 250, 500, 1000, 2000 degrees/second
bool setGyroSensitivity(uint8_t gs);
uint8_t getGyroSensitivity(); // returns 0,1,2,3
// normalizes Pitch Roll and Yaw.
void setNormalize(bool normalize = true) { _normalize = normalize; };
bool getNormalize() { return _normalize; };
// READ THE SENSOR
// returns GY521_OK or one of the error codes above.
int16_t read();
// optimized partial reading
// read accelerometer only
int16_t readAccel();
// read gyroscope only can be done too
// however for pitch roll yaw you need all.
int16_t readGyro();
// read temperature only, does not affect throttle.
int16_t readTemperature();
// CALL AFTER READ
float getAccelX() { return _ax; };
float getAccelY() { return _ay; };
float getAccelZ() { return _az; };
float getAngleX() { return _aax; };
float getAngleY() { return _aay; };
float getAngleZ() { return _aaz; };
float getTemperature() { return _temperature; };
float getGyroX() { return _gx; };
float getGyroY() { return _gy; };
float getGyroZ() { return _gz; };
float getPitch() { return _pitch; };
float getRoll() { return _roll; };
float getYaw() { return _yaw; };
// last time sensor is actually read.
uint32_t lastTime() { return _lastTime; };
// generic worker to get access to all functionality
uint8_t setRegister(uint8_t reg, uint8_t value);
uint8_t getRegister(uint8_t reg);
// get last error and reset error to OK.
int16_t getError() { return _error; _error = GY521_OK; };
// calibration errors
float axe = 0, aye = 0, aze = 0; // accelerometer errors
float gxe = 0, gye = 0, gze = 0; // gyro errors
private:
uint8_t _address; // I2C address
bool _throttle = true; // to prevent reading too fast
uint16_t _throttleTime = GY521_THROTTLE_TIME;
uint32_t _lastTime = 0; // to measure duration for math & throttle
uint32_t _lastMicros = 0; // to measure duration for math & throttle
int16_t _error = GY521_OK; // initially everything is OK
uint8_t _afs = 0; // sensitivity factor
float _raw2g = GY521_RAW2G; // raw data to gravity g's
float _ax, _ay, _az; // accelerometer raw
float _aax, _aay, _aaz; // accelerometer processed
uint8_t _gfs = 0;
float _raw2dps = GY521_RAW2DPS;
float _gx, _gy, _gz; // gyro raw
float _gax, _gay, _gaz; // gyro processed
float _pitch, _roll, _yaw; // used by user
float _temperature = 0;
bool _normalize = true; // default true.
// to read register of 2 bytes.
int16_t _WireRead2();
TwoWire* _wire;
};
// -- END OF FILE --