update github actions (#38)

- update GitHub actions
- update license 2023
- edit changelog.md
- update readme.md
- minor edits

Author: RobTillaart

CHANGELOG.md

@@ -5,8 +5,16 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
-## [0.3.8] - 2022-10-07
 
+## [0.3.9] - 2023-01-27
+- update GitHub actions
+- update license 2023
+- edit changelog.md
+- update readme.md
+- minor edits
+
+
+## [0.3.8] - 2022-10-07
 - added CHANGELOG.md
 - fix #36 - limit values of pitch() roll() yaw() to 0..360 range.
 - rename three constants, move to .h.
@@ -16,83 +24,68 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - updated documentation a bit.
 
 ## [0.3.7] - 2022-07-26
-
 - add partial reads readAccel(), readGyro() and readTemperature()
 - rename + add GY521_LIB_VERSION to examples.
 
 ## [0.3.6] - 2021-12-18
-
 - update library.json, license, minor edits
 
 ## [0.3.5] - 2021-10-20
-
 - update build-CI, badges 
 - fix #28 add wakeup to begin().
 
 ## [0.3.4] - 2021-07-12
-
 - fix #24 improve precision
 
 ## [0.3.3] - 2021-07-05
-
 - fix #22 improve maths
 
 ## [0.3.2] - 2021-07-05
-
 - fix #20 support multiWire
 
 ## [0.3.1] - 2021-06-13
-
 - added more unit test 
 - some initialization
 
 ## [0.3.0] - 2021-04-07
-
 - fix #18 acceleration error correction (kudo's to Merkxic)
 
-## [0.2.3] - 2021-01-26
+----
 
+## [0.2.3] - 2021-01-26
 - align version numbers (oops)
 
 ## [0.2.2] - 2021-01-24
-
 - add interface part to readme.md
 - add GY521_registers.h
 
 ## [0.2.1] - 2020-12-24
-
 - add Arduino-CI build
 - add unit tests
 
 ## [0.2.0] - 2020-11-03
-
 - improve error handling
 
-## [0.1.5] - 2020-09-29
+----
 
+## [0.1.5] - 2020-09-29
 - fix #6 fix maths for Teensy
 
 ## [0.1.4] - 2020-09-29
-
 - fix #5 missing ;
 
 ## [0.1.3] - 2020-08-07
-
 - fix ESP support
 - add pitch roll yaw demo
 
 ## [0.1.2] - 2020-08-06
-
 - fix setAccelSensitivity
 - add getters
 
 ## [0.1.1] - 2020-07-09
-
 - refactor
 - initial release
 
 ## [0.1.0] - 2017-11-20
-
 - initial version
 
-

GY521.cpp

@@ -1,7 +1,7 @@
 //
 //    FILE: GY521.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.3.8
+// VERSION: 0.3.9
 // 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: 0.3.8
+// VERSION: 0.3.9
 // PURPOSE: Arduino library for I2C GY521 accelerometer-gyroscope sensor
 //     URL: https://github.com/RobTillaart/GY521
 //
@@ -12,12 +12,12 @@
 #include "Wire.h"
 
 
-#define GY521_LIB_VERSION           (F("0.3.8"))
+#define GY521_LIB_VERSION           (F("0.3.9"))
 
 
 //  THROTTLE TIMING
 #ifndef GY521_THROTTLE_TIME
-#define GY521_THROTTLE_TIME         10   // milliseconds
+#define GY521_THROTTLE_TIME         10   //  milliseconds
 #endif
 
 
@@ -38,7 +38,7 @@
 class GY521
 {
 public:
-  GY521(uint8_t address = 0x69, TwoWire *wire = &Wire); // 0x68 or 0x69
+  GY521(uint8_t address = 0x69, TwoWire *wire = &Wire); //  0x68 or 0x69
 
 
 #if defined (ESP8266) || defined(ESP32)
@@ -140,4 +140,4 @@ class GY521
 };
 
 
-// -- END OF FILE --
+//  -- END OF FILE --

GY521_registers.h

@@ -7,7 +7,7 @@
 //
 
 
-// keep names in sync with BIG MPU6050 lib
+//  keep names in sync with BIG MPU6050 lib
 
 
 #define GY521_XG_OFFS_TC             0x00
@@ -141,5 +141,5 @@
 #define GY521_WHO_AM_I               0x75
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
 

README.md

@@ -21,27 +21,29 @@ It needs to be tested a lot more.
 
 #### 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.
+- **GY521_angle** read angleX, angleY, angleZ.
+- **GY521_performance** measure performance.
+- **GY521_pitch_roll_yaw** to get pitch roll yaw.
+- **GY521_readCalibration_1** read calibration values / errors for a flat sensor.
+- **GY521_readCalibration_2** generate calibration code snippet.
+- **GY521_test_1** test working of the sensor.
+- **GY521_test_2** test set/get functions.
 
 
 ## Breakout board
 
 From left to right
 
-|  pin | pinName | description     |
-|:----:|:--------|:----------------|
-|  0   |  VCC    | +5V             |
-|  1   |  GND    | ground          |
-|  2   |  SCL    | I2C clock       |
-|  3   |  SDA    | I2C data        |
-|  4   |  XDA    | auxiliary data  | see datasheet
-|  5   |  XCL    | auxiliary clock | see datasheet
-|  6   |  AD0    | address         | 
-|  7   |  INT    | interrupt       |
+|  pin  |  pinName  |  description      |  notes  |
+|:-----:|:---------:|:------------------|:-------:|
+|   0   |    VCC    |  +5V              |
+|   1   |    GND    |  ground           |
+|   2   |    SCL    |  I2C clock        |
+|   3   |    SDA    |  I2C data         |
+|   4   |    XDA    |  auxiliary data   | see datasheet
+|   5   |    XCL    |  auxiliary clock  | see datasheet
+|   6   |    AD0    |  address          | 
+|   7   |    INT    |  interrupt        |
 
 
 #### Address
@@ -60,6 +62,9 @@ AD0 connected to VCC => 0x69
 
 ## Interface
 
+```cpp
+#include "GY521.h"
+```
 
 ### Constructor
 
@@ -80,7 +85,7 @@ AD0 connected to VCC => 0x69
 - **uint16_t getThrottleTime()** returns throttle time set.
 
 
-### READ
+### Read
 
 #### Set before read
 
@@ -104,7 +109,7 @@ returns status = GY521_OK on success.
 
 Since version 0.3.8 the **read()** and **readGyro()** function is updated to keep the range of **getPitch()**,
  **getRoll()** and **getYaw()** in the range 0..360 degrees. (Issue #36). 
-Problem is  that with continuous roatation in a same direction internal variables will overflow and new 
+Problem is  that with continuous rotation in a same direction internal variables will overflow and new 
 movements (angles) will get lost as insignificant digits.
 
 
@@ -147,13 +152,22 @@ See examples, use with care
 
 ## Future
 
-**Should**
-- test test and test ...(ESP too)
+#### Must
+
 - improve documentation
-- look for maths optimizations  (atan, hypot, performance)
 
+#### Should
+
+- test test and test ...(ESP too)
+
+#### Could
 
-**Could**
-- calibrate function in the lib ?  (think not as lib might grow?)
 - calibrate sketch could print code snippet to include...
 
+#### Wont
+
+- look for maths optimizations  (atan, hypot, performance)
+  - ==> hypot optimized.
+  - other ideas affect accuracy, so unless new ideas arise.
+- calibrate function in the lib
+  - not as lib will grow too large.

examples/GY521_angle/GY521_angle.ino

@@ -1,7 +1,7 @@
 //
 //    FILE: GY521_angle.ino
 //  AUTHOR: Rob Tillaart
-// PURPOSE: demo pitch roll yaw
+// PURPOSE: read angleX, angleY, angleZ
 //    DATE: 2022-06-06
 
 
@@ -29,13 +29,13 @@ void setup()
     Serial.println("\tCould not connect to GY521");
     delay(1000);
   }
-  sensor.setAccelSensitivity(2);  // 8g
-  sensor.setGyroSensitivity(1);   // 500 degrees/s
+  sensor.setAccelSensitivity(2);  //  8g
+  sensor.setGyroSensitivity(1);   //  500 degrees/s
 
   sensor.setThrottle();
   Serial.println("start...");
 
-  // set calibration values from calibration sketch.
+  //  set calibration values from calibration sketch.
   sensor.axe = 0.574;
   sensor.aye = -0.002;
   sensor.aze = -1.043;
@@ -54,11 +54,11 @@ void loop()
 
   if (counter % 10 == 0)
   {
-    // Serial.println("\nCNT\tX\tY\tZ");
+    //  Serial.println("\nCNT\tX\tY\tZ");
   }
 
-  //Serial.print(counter);
-  //Serial.print('\t');
+  // Serial.print(counter);
+  // Serial.print('\t');
   Serial.print(x, 1);
   Serial.print('\t');
   Serial.print(y, 1);
@@ -70,5 +70,5 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
 

examples/GY521_readCalibration_2/GY521_readCalibration_2.ino

@@ -30,12 +30,12 @@ void setup()
   {
     Serial.println("Could not connect to GY521");
   }
-  // adjust when needed.
-  sensor.setAccelSensitivity(0);  // 2g
-  sensor.setGyroSensitivity(0);   // 250 degrees/s
+  //  adjust when needed.
+  sensor.setAccelSensitivity(0);  //  2g
+  sensor.setGyroSensitivity(0);   //  250 degrees/s
   sensor.setThrottle(false);
 
-  // set all calibration errors to zero
+  //  set all calibration errors to zero
   sensor.axe = 0;
   sensor.aye = 0;
   sensor.aze = 0;
@@ -113,7 +113,7 @@ void loop()
   Serial.print(t * 0.01, 2);
   Serial.println();
   }
-  // adjust calibration errors so table should get all zero's.
+  //  adjust calibration errors so table should get all zero's.
   sensor.axe += ax * 0.01;
   sensor.aye += ay * 0.01;
   sensor.aze += az * 0.01;
@@ -126,4 +126,4 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --

examples/GY521_test_1/GY521_test_1.ino

@@ -29,13 +29,13 @@ void setup()
     Serial.println("\tCould not connect to GY521");
     delay(1000);
   }
-  sensor.setAccelSensitivity(0);  // 2g
-  sensor.setGyroSensitivity(0);   // 250 degrees/s
+  sensor.setAccelSensitivity(0);  //  2g
+  sensor.setGyroSensitivity(0);   //  250 degrees/s
 
   sensor.setThrottle();
   Serial.println("start...");
 
-  // set calibration values from calibration sketch.
+  //  set calibration values from calibration sketch.
   sensor.axe = 0;
   sensor.aye = 0;
   sensor.aze = 0;
@@ -84,5 +84,5 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
 

examples/GY521_test_2/GY521_test_2.ino

@@ -66,7 +66,7 @@ void setup()
     Serial.println("\tThrot err:\tfalse");
   }
 
-  for (uint16_t n = 0; n < 1000; n++)  // 0 - 1 second.
+  for (uint16_t n = 0; n < 1000; n++)  //  0 - 1 second.
   {
     sensor.setThrottleTime(n);
     if (sensor.getThrottleTime() != n)
@@ -85,5 +85,5 @@ void loop()
 }
 
 
-// -- END OF FILE --
+//  -- END OF FILE --
 

library.json

@@ -15,7 +15,7 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/GY521.git"
   },
-  "version": "0.3.8",
+  "version": "0.3.9",
   "license": "MIT",
   "frameworks": "arduino",
   "platforms": "*",