update example / documentation

CHANGELOG.md

@@ -6,10 +6,15 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
 
+## [0.5.2] - 2024-01-16
+- fix #48, update example
+- add some tables to readme.md
+- minor edits
+
+
 ## [0.5.1] - 2023-12-11
 - redo initialization order.
 
-
 ## [0.5.0] - 2023-12-05
 - refactor API, begin()
 - update readme.md

GY521.cpp

@@ -1,7 +1,7 @@
 //
 //    FILE: GY521.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.5.1
+// VERSION: 0.5.2
 // PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
 //     URL: https://github.com/RobTillaart/GY521
 

GY521.h

@@ -2,7 +2,7 @@
 //
 //    FILE: GY521.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.5.1
+// VERSION: 0.5.2
 // PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
 //     URL: https://github.com/RobTillaart/GY521
 
@@ -11,7 +11,7 @@
 #include "Wire.h"
 
 
-#define GY521_LIB_VERSION           (F("0.5.1"))
+#define GY521_LIB_VERSION           (F("0.5.2"))
 
 
 //  THROTTLE TIMING
@@ -37,7 +37,8 @@
 class GY521
 {
 public:
-  GY521(uint8_t address = 0x69, TwoWire *wire = &Wire); //  0x68 or 0x69
+  //  address == 0x68 or 0x69
+  GY521(uint8_t address = 0x69, TwoWire *wire = &Wire);
 
   bool     begin();
   bool     isConnected();
@@ -48,7 +49,7 @@ class GY521
   //  throttle to force delay between reads.
   void     setThrottle(bool throttle = true) { _throttle = throttle; };
   bool     getThrottle()                     { return _throttle; };
-  //  0..65535 (max milliseconds == roughly 1 minute.
+  //  0..65535 max milliseconds == roughly 1 minute.
   void     setThrottleTime(uint16_t ti )     { _throttleTime = ti; };
   uint16_t getThrottleTime()                 { return _throttleTime; };
 

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2017-2023 Rob Tillaart
+Copyright (c) 2017-2024 Rob Tillaart
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

README.md

@@ -112,7 +112,8 @@ Note call **Wire.begin()** before **begin()**.
 
 #### Actual read
 
-- **int16_t read()** returns status = GY521_OK on success.
+- **int16_t read()** reads all core measurements.
+returns status = GY521_OK on success.
 - **int16_t readAccel()** read accelerometer only to speed up interaction. This call does update the throttle timer.
 returns status = GY521_OK on success.
 - **int16_t readGyro()** read gyroscope only to speed up interaction. This call does update the throttle timer.
@@ -132,7 +133,8 @@ In version 0.4.0 the normalization of pitch, roll and yaw is fixed and made cond
 
 #### Calls after read
 
-Note that multiple calls will return the same value. One must explicitly call **read()** to get new values. 
+Note that multiple calls will return the same value. 
+One must explicitly call **read()** to get new values. 
 
 - **float getAccelX()** idem.
 - **float getAccelY()** idem.
@@ -162,7 +164,42 @@ Read the register PDF for the specific value and meaning of registers.
 
 ## documents
 
-- check details - MPU-6000-Register-Map1.pdf
+- check details registers - MPU-6000-Register-Map1.pdf
+
+
+#### Error codes
+
+|  Error code                 |  value  |  notes  |
+|:----------------------------|:-------:|:-------:|
+|  GY521_OK                   |    0    |  not an error
+|  GY521_THROTTLED            |    1    |  not an error
+|  GY521_ERROR_READ           |   -1    |
+|  GY521_ERROR_WRITE          |   -2    |
+|  GY521_ERROR_NOT_CONNECTED  |   -3    |
+
+
+#### Sensitivity Acceleration
+
+unit g = gravity == 9.81 m/s^2
+
+| Acceleration  |  value  |  notes  |
+|:--------------|:-------:|:-------:|
+|      2 g      |    0    |  default
+|      4 g      |    1    |
+|      8 g      |    2    |
+|     16 g      |    3    |
+
+
+#### Sensitivity Gyroscope
+
+unit dps = degrees per second.
+
+|  Gyroscope    |  value  |  notes  |
+|:--------------|:-------:|:-------:|
+|   250 dps     |    0    |  default
+|   500 dps     |    1    |
+|  1000 dps     |    2    |
+|  2000 dps     |    3    |
 
 
 ## Operation
@@ -175,19 +212,20 @@ See examples, use with care
 #### Must
 
 - improve documentation
-  - add tables where appropriate
-  - sensitivity, error codes etc
 - test test and test ...(ESP too)
 
 #### Should
 
-- add performance sketch
 
 #### Could
 
 - calibrate sketch could print code snippet to include...
 - add examples
 - improve unit tests?
+- reorder code in read(), would that save some micros.?
+  - first all ax, then ay etc
+  - footprint / performance gain?
+
 
 #### Wont
 
@@ -196,6 +234,9 @@ See examples, use with care
   - other ideas affect accuracy, so unless new ideas arise.
 - calibrate function in the lib
   - not as lib will grow too large.
+- defaults value for functions?
+  - user must set function parameters explicit
+
 
 ## Support
 

examples/GY521_test_1/GY521_test_1.ino

@@ -4,6 +4,7 @@
 // PURPOSE: minimal demo to test working of the sensor.
 //     URL: https://github.com/RobTillaart/GY521
 
+
 #include "GY521.h"
 
 GY521 sensor(0x69);
@@ -47,13 +48,13 @@ void setup()
 void loop()
 {
   sensor.read();
-  int ax = sensor.getAccelX();
-  int ay = sensor.getAccelY();
-  int az = sensor.getAccelZ();
-  int gx = sensor.getGyroX();
-  int gy = sensor.getGyroY();
-  int gz = sensor.getGyroZ();
-  int t = sensor.getTemperature();
+  float ax = sensor.getAccelX();
+  float ay = sensor.getAccelY();
+  float az = sensor.getAccelZ();
+  float gx = sensor.getGyroX();
+  float gy = sensor.getGyroY();
+  float gz = sensor.getGyroZ();
+  float t = sensor.getTemperature();
 
   if (counter % 10 == 0)
   {
@@ -63,19 +64,19 @@ void loop()
 
   Serial.print(counter);
   Serial.print('\t');
-  Serial.print(ax);
+  Serial.print(ax, 3);
   Serial.print('\t');
-  Serial.print(ay);
+  Serial.print(ay, 3);
   Serial.print('\t');
-  Serial.print(az);
+  Serial.print(az, 3);
   Serial.print('\t');
-  Serial.print(gx);
+  Serial.print(gx, 3);
   Serial.print('\t');
-  Serial.print(gy);
+  Serial.print(gy, 3);
   Serial.print('\t');
-  Serial.print(gz);
+  Serial.print(gz, 3);
   Serial.print('\t');
-  Serial.print(t);
+  Serial.print(t, 3);
   Serial.println();
 
   counter++;

library.json

@@ -15,7 +15,7 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/GY521.git"
   },
-  "version": "0.5.1",
+  "version": "0.5.2",
   "license": "MIT",
   "frameworks": "*",
   "platforms": "*",

library.properties

@@ -1,5 +1,5 @@
 name=GY521
-version=0.5.1
+version=0.5.2
 author=Rob Tillaart <rob.tillaart@gmail.com>
 maintainer=Rob Tillaart <rob.tillaart@gmail.com>
 sentence=Arduino library for GY521 angle measurement