void GY521 :: setAccelSensitivity (uint8_t as) _afs problem in function. about gy521

[RobTillaart]

Thanks for reporting, I will look into it asap.

[RobTillaart]

Good catch, I will fix it today.

[RobTillaart]

@SyberMafia
Should the library have a conversion for AccelSensitivity from 0123 ==> 2g, 4g,8g,16g ?
idem from GyroSensititity 01234 => 250, 500, 1000, 2000 dps

imho these are not core but can be useful ...

[RobTillaart]

@SyberMafia
Fixed in development branch, please verify

void GY521::setAccelSensitivity(uint8_t as)
{
  _afs = as;
  if (_afs > 3) _afs = 3;
  uint8_t val = getRegister(GY521_ACCEL_CONFIG);
  // no need to write same value
  if (((val >> 3) & 3) != _afs)
  {
    val &= 0xE7;
    val |= (_afs << 3);
    setRegister(GY521_ACCEL_CONFIG, val);
  }
  // calculate conversion factor.
  _raw2g = (1 << _afs) / 16384.0;
}

also added new functions + new test sketch test_2.ino

  void     setThrottleTime(uint16_t ti )     { _throttleTime = ti; };
  uint16_t getThrottleTime()                 { return _throttleTime; };
  uint8_t  getAccelSensitivity();          // returns 0,1,2,3
  uint8_t  getGyroSensitivity();           // returns 0,1,2,3

[SyberMafia]

@SyberMafia
Fixed in development branch, please verify

void GY521::setAccelSensitivity(uint8_t as)
{
  _afs = as;
  if (_afs > 3) _afs = 3;
  uint8_t val = getRegister(GY521_ACCEL_CONFIG);
  // no need to write same value
  if (((val >> 3) & 3) != _afs)
  {
    val &= 0xE7;
    val |= (_afs << 3);
    setRegister(GY521_ACCEL_CONFIG, val);
  }
  // calculate conversion factor.
  _raw2g = (1 << _afs) / 16384.0;
}

also added new functions + new test sketch test_2.ino

  void     setThrottleTime(uint16_t ti )     { _throttleTime = ti; };
  uint16_t getThrottleTime()                 { return _throttleTime; };
  uint8_t  getAccelSensitivity();          // returns 0,1,2,3
  uint8_t  getGyroSensitivity();           // returns 0,1,2,3

Good job, working properly.

[SyberMafia]

I've realized now.
GY521.cpp

uint8_t GY521::getAccelSensitivity()
{
  uint8_t val = getRegister(GY521_GYRO_CONFIG);     REPLACE --> GY521_ACCEL_CONFIG
  _afs = (val >> 3) & 3;
  return _afs;
}

[RobTillaart]

Good catch, fixed it.
time to merge!