From 3f148d79f2df75922da6e1007cccaf2a1c2cdb5c Mon Sep 17 00:00:00 2001
From: Rob Tillaart <rob.tillaart@gmail.com>
Date: Mon, 5 Jul 2021 11:41:06 +0200
Subject: [PATCH] Fix #20 add multi-Wire support (#23)
* Fix #20 add multi-Wire support
---
GY521.cpp | 80 +++++++++++--------
GY521.h | 27 +++++--
GY521_registers.h | 2 +-
README.md | 49 +++++++-----
.../GY521_performance/GY521_performance.ino | 47 +++++++++++
library.json | 2 +-
library.properties | 2 +-
7 files changed, 145 insertions(+), 64 deletions(-)
create mode 100644 examples/GY521_performance/GY521_performance.ino
diff --git a/GY521.cpp b/GY521.cpp
index 2c8ea4f..eccd52a 100644
--- a/GY521.cpp
+++ b/GY521.cpp
@@ -1,7 +1,7 @@
//
// FILE: GY521.cpp
// AUTHOR: Rob Tillaart
-// VERSION: 0.3.1
+// VERSION: 0.3.2
// PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
// URL: https://github.com/RobTillaart/GY521
//
@@ -11,14 +11,15 @@
// 0.1.2 2020-08-06 fix setAccelSensitivity + add getters
// 0.1.3 2020-08-07 fix ESP support + pitch roll yaw demo
// 0.1.4 2020-09-29 fix #5 missing ;
-// 0.1.5 2020-09-29 fix #6 fix math for Teensy
+// 0.1.5 2020-09-29 fix #6 fix maths for Teensy
// 0.2.0 2020-11-03 improve error handling
-// 0.2.1 2020-12-24 arduino-ci + unit tests
-// 0.2.2 2021-01-24 add interface part to readme.md
+// 0.2.1 2020-12-24 Arduino-CI + unit tests
+// 0.2.2 2021-01-24 add interface part to readme.md
// add GY521_registers.h
// 0.2.3 2021-01-26 align version numbers (oops)
// 0.3.0 2021-04-07 fix #18 acceleration error correction (kudo's to Merkxic)
// 0.3.1 2021-06-13 added more unit test + some initialization
+// 0.3.2 2021-07-05 fix #20 support multiWire
#include "GY521.h"
@@ -35,9 +36,10 @@
//
// PUBLIC
//
-GY521::GY521(uint8_t address)
+GY521::GY521(uint8_t address, TwoWire *wire)
{
_address = address;
+ _wire = wire;
reset();
}
@@ -45,7 +47,7 @@ GY521::GY521(uint8_t address)
#if defined (ESP8266) || defined(ESP32)
bool GY521::begin(uint8_t sda, uint8_t scl)
{
- Wire.begin(sda, scl);
+ _wire->begin(sda, scl);
return isConnected();
}
#endif
@@ -53,15 +55,15 @@ bool GY521::begin(uint8_t sda, uint8_t scl)
bool GY521::begin()
{
- Wire.begin();
+ _wire->begin();
return isConnected();
}
bool GY521::isConnected()
{
- Wire.beginTransmission(_address);
- return (Wire.endTransmission() == 0);
+ _wire->beginTransmission(_address);
+ return (_wire->endTransmission() == 0);
}
void GY521::reset()
@@ -79,10 +81,10 @@ void GY521::reset()
bool GY521::wakeup()
{
- Wire.beginTransmission(_address);
- Wire.write(GY521_PWR_MGMT_1);
- Wire.write(GY521_WAKEUP);
- return (Wire.endTransmission() == 0);
+ _wire->beginTransmission(_address);
+ _wire->write(GY521_PWR_MGMT_1);
+ _wire->write(GY521_WAKEUP);
+ return (_wire->endTransmission() == 0);
}
@@ -92,18 +94,27 @@ int16_t GY521::read()
{
if ((millis() - _lastTime) < _throttleTime)
{
+ // not an error.
return GY521_THROTTLED;
}
}
// Connected ?
- Wire.beginTransmission(_address);
- Wire.write(GY521_ACCEL_XOUT_H);
- if (Wire.endTransmission() != 0) return GY521_ERROR_WRITE;
+ _wire->beginTransmission(_address);
+ _wire->write(GY521_ACCEL_XOUT_H);
+ if (_wire->endTransmission() != 0)
+ {
+ _error = GY521_ERROR_WRITE;
+ return _error;
+ }
// Get the data
- int8_t n = Wire.requestFrom(_address, (uint8_t)14);
- if (n != 14) return GY521_ERROR_READ;
+ int8_t n = _wire->requestFrom(_address, (uint8_t)14);
+ if (n != 14)
+ {
+ _error = GY521_ERROR_READ;
+ return _error;
+ }
// ACCELEROMETER
_ax = _WireRead2(); // ACCEL_XOUT_H ACCEL_XOUT_L
_ay = _WireRead2(); // ACCEL_YOUT_H ACCEL_YOUT_L
@@ -142,19 +153,19 @@ int16_t GY521::read()
_gx *= _raw2dps;
_gy *= _raw2dps;
_gz *= _raw2dps;
-
+
// Error correct raw gyro measurements.
_gx += gxe;
_gy += gye;
_gz += gze;
-
+
_gax += _gx * duration;
_gay += _gy * duration;
_gaz += _gz * duration;
- _yaw = _gaz;
+ _yaw = _gaz;
_pitch = 0.96 * _gay + 0.04 * _aay;
- _roll = 0.96 * _gax + 0.04 * _aax;
+ _roll = 0.96 * _gax + 0.04 * _aax;
return GY521_OK;
}
@@ -236,11 +247,11 @@ uint8_t GY521::getGyroSensitivity()
uint8_t GY521::setRegister(uint8_t reg, uint8_t value)
{
- Wire.beginTransmission(_address);
- Wire.write(reg);
- Wire.write(value);
+ _wire->beginTransmission(_address);
+ _wire->write(reg);
+ _wire->write(value);
// no need to do anything if not connected.
- if (Wire.endTransmission() != 0)
+ if (_wire->endTransmission() != 0)
{
_error = GY521_ERROR_WRITE;
return _error;
@@ -251,20 +262,20 @@ uint8_t GY521::setRegister(uint8_t reg, uint8_t value)
uint8_t GY521::getRegister(uint8_t reg)
{
- Wire.beginTransmission(_address);
- Wire.write(reg);
- if (Wire.endTransmission() != 0)
+ _wire->beginTransmission(_address);
+ _wire->write(reg);
+ if (_wire->endTransmission() != 0)
{
_error = GY521_ERROR_WRITE;
return _error;
}
- uint8_t n = Wire.requestFrom(_address, (uint8_t) 1);
- if (n != 1)
+ uint8_t n = _wire->requestFrom(_address, (uint8_t) 1);
+ if (n != 1)
{
_error = GY521_ERROR_READ;
return _error;
}
- uint8_t val = Wire.read();
+ uint8_t val = _wire->read();
return val;
}
@@ -272,10 +283,11 @@ uint8_t GY521::getRegister(uint8_t reg)
// to read register of 2 bytes.
int16_t GY521::_WireRead2()
{
- int16_t tmp = Wire.read();
+ int16_t tmp = _wire->read();
tmp <<= 8;
- tmp |= Wire.read();
+ tmp |= _wire->read();
return tmp;
}
+
// -- END OF FILE --
diff --git a/GY521.h b/GY521.h
index 1b83573..b18ffe9 100644
--- a/GY521.h
+++ b/GY521.h
@@ -2,7 +2,7 @@
//
// FILE: GY521.h
// AUTHOR: Rob Tillaart
-// VERSION: 0.3.1
+// VERSION: 0.3.2
// PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
// URL: https://github.com/RobTillaart/GY521
//
@@ -15,7 +15,7 @@
#include "Wire.h"
-#define GY521_LIB_VERSION (F("0.3.1"))
+#define GY521_LIB_VERSION (F("0.3.2"))
#ifndef GY521_THROTTLE_TIME
@@ -34,7 +34,8 @@
class GY521
{
public:
- GY521(uint8_t address = 0x69); // 0x68 or 0x69
+ GY521(uint8_t address = 0x69, TwoWire *wire = &Wire); // 0x68 or 0x69
+
#if defined (ESP8266) || defined(ESP32)
bool begin(uint8_t sda, uint8_t scl);
@@ -43,14 +44,16 @@ class GY521
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 millis == roughly 1 minute.
+ // 0..65535 (max milliseconds == roughly 1 minute.
void setThrottleTime(uint16_t ti ) { _throttleTime = ti; };
uint16_t getThrottleTime() { return _throttleTime; };
+
// returns GY521_OK or one of the error codes above.
int16_t read();
@@ -60,8 +63,8 @@ class GY521
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
-
+ uint8_t getGyroSensitivity(); // returns 0,1,2,3
+
// CALL AFTER READ
float getAccelX() { return _ax; };
float getAccelY() { return _ay; };
@@ -77,16 +80,21 @@ class GY521
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; };
- // callibration errors
+
+ // calibration errors
float axe = 0, aye = 0, aze = 0; // accelerometer errors
float gxe = 0, gye = 0, gze = 0; // gyro errors
@@ -110,9 +118,12 @@ class GY521
float _pitch, _roll, _yaw; // used by user
float _temperature = 0;
-
+
// to read register of 2 bytes.
int16_t _WireRead2();
+
+ TwoWire* _wire;
};
+
// -- END OF FILE --
diff --git a/GY521_registers.h b/GY521_registers.h
index a503a62..88154d1 100644
--- a/GY521_registers.h
+++ b/GY521_registers.h
@@ -1,7 +1,7 @@
//
// FILE: GY521_registers.h
// AUTHOR: Rob Tillaart
-// VERSION: 0.3.0
+// VERSION: 0.3.2
// PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
// URL: https://github.com/RobTillaart/GY521
//
diff --git a/README.md b/README.md
index 8d7b9f0..22880dc 100644
--- a/README.md
+++ b/README.md
@@ -12,20 +12,24 @@ Arduino library for I2C GY521 accelerometer-gyroscope sensor a.k.a. MCU-6050
Experimental library for GY521 a.k.a. MCU-6050
-Library is work in progress, in fact extracted and extended from an old project.
+Library is work in progress, in fact it is extracted and extended from an old project.
It needs to be tested a lot more.
-It has three examples
+
+#### Examples
+
- calibration example to determine the offsets needed
- example to read values.
- test sketch to test get / set values.
+- example to get pitch roll yaw.
+- performance sketch.
## Breakout board
-left to right
+From left to right
-| pin | pinname | description |
+| pin | pinName | description |
|:----:|:--------|:----------------|
| 0 | VCC | +5V |
| 1 | GND | ground |
@@ -36,7 +40,9 @@ left to right
| 6 | AD0 | address |
| 7 | INT | interrupt |
+
#### Address
+
AD0 connected to GND => 0x68
AD0 connected to VCC => 0x69
@@ -54,25 +60,27 @@ AD0 connected to VCC => 0x69
### 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.
+- **GY521(uint8_t address = 0x69, , TwoWire \*wire = &Wire)** Constructor with default address.
+0x68 is also a valid address. The wire argument is optional to select Wire1 Wire2 etc. on some boards.
+- **bool begin(uint8_t sda, uint8_t scl)** begin for ESP32 et al. Returns true if address can be found on I2C bus.
+- **bool begin()** Returns true if address can be found on I2C bus.
+- **bool isConnected()** returns true if 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
+- **void setThrottle(bool throttle = true)** throttle to force "delay" between reads.
+- **bool getThrottle()** returns true if throttle mode is set.
+- **void setThrottleTime(uint16_t ti )** throttle time in milliseconds, max = 65535 = 1++ minute
+- **uint16_t getThrottleTime()** returns throttle time set.
-### Read
+### READ
+
+#### Set before 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
@@ -83,11 +91,13 @@ AD0 connected to VCC => 0x69
#### Actual read
- **int16_t read()** returns ...
-- **uint32_t lastTime()** last time sensor is actually read. In millis().
+- **uint32_t lastTime()** last time sensor is actually read. In milliseconds.
#### Call after read
+Note that multiple calls will return the same value. One must explicitly call **read()** to get new values.
+
- **float getAccelX()** idem
- **float getAccelY()** idem
- **float getAccelZ()** idem
@@ -105,7 +115,7 @@ AD0 connected to VCC => 0x69
### Register access
-Read the register PDF for the specific
+Read the register PDF for the specific value and meaning of registers.
- **uint8_t setRegister(uint8_t reg, uint8_t value)**
- **uint8_t getRegister(uint8_t reg)**
@@ -116,13 +126,14 @@ Read the register PDF for the specific
**Should**
- test test and test ...(ESP too)
- improve documentation
-- look for math optimizations (atan, hypot, performance)
-- multi Wire interface (e.g Wire1, Wire2 etc)
+- look for maths optimizations (atan, hypot, performance)
+
**Could**
- calibrate function in the lib ? (think not as lib might grow?)
- calibrate sketch could print code snippet to include...
-
+- option to read only Accel?
+- option to read only Gyro?
## documents
diff --git a/examples/GY521_performance/GY521_performance.ino b/examples/GY521_performance/GY521_performance.ino
new file mode 100644
index 0000000..f3388c1
--- /dev/null
+++ b/examples/GY521_performance/GY521_performance.ino
@@ -0,0 +1,47 @@
+//
+// FILE: GY521_performance.ino
+// AUTHOR: Rob Tillaart
+// VERSION: 0.1.0
+// PURPOSE: minimal demo
+// DATE: 2021-06-13
+
+
+#include "GY521.h"
+
+
+GY521 sensor(0x69);
+
+uint32_t counter = 0;
+
+
+void setup()
+{
+ Serial.begin(115200);
+ Serial.println(__FILE__);
+
+ Wire.begin();
+
+ delay(100);
+ while (sensor.wakeup() == false)
+ {
+ Serial.print(millis());
+ Serial.println("\tCould not connect to GY521");
+ delay(1000);
+ }
+}
+
+void loop()
+{
+ uint32_t start = micros();
+ int16_t x = sensor.read();
+ uint32_t duration = micros() - start;
+
+ Serial.print(x);
+ Serial.print('\t');
+ Serial.print(duration);
+ Serial.println();
+
+ delay(1000);
+}
+
+// -- END OF FILE --
\ No newline at end of file
diff --git a/library.json b/library.json
index 2dcc777..1c98f83 100644
--- a/library.json
+++ b/library.json
@@ -15,7 +15,7 @@
"type": "git",
"url": "https://github.com/RobTillaart/GY521.git"
},
- "version": "0.3.1",
+ "version": "0.3.2",
"license": "MIT",
"frameworks": "arduino",
"platforms": "*"
diff --git a/library.properties b/library.properties
index 99ca66f..40676e8 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
name=GY521
-version=0.3.1
+version=0.3.2
author=Rob Tillaart <rob.tillaart@gmail.com>
maintainer=Rob Tillaart <rob.tillaart@gmail.com>
sentence=Arduino library for GY521 angle measurement