gy61

README

gy61

Driver for WAVGAT 6 Axis MPU6050 Module with Kalman filtering.

Preparation

The module comes with I2C and UART interfaces. Only UART interface provides the Kalman-filtered data, so we connect the module to the UART adapter:

Building

Building with Go compiler go version go1.21.1 linux/amd64:

cd main/
go build -o gy61

Testing

Run ./gy61 executable, providing the serial device, for example /dev/ttyUSB0, in case of USB-UART adapter:

./gy61 /dev/ttyUSB0
 -49.12   76.87  107.95
 -48.77   76.82  108.26
 -54.50   -0.64  -53.28
 -54.54   -0.64  -53.28
 -54.56   -0.63  -53.27
 -54.57   -0.63  -53.26
 -54.59   -0.62  -53.22
 -54.60   -0.60  -53.18
 -54.60   -0.59  -53.11
 -54.62   -0.57  -53.03
 -54.60   -0.54  -52.93
 -54.58   -0.53  -52.83
 -54.56   -0.53  -52.74

The program will output the 3D data, which will change, as you move the module around.

Documentation

Overview

Package gy61 is a generated GoMock package.

Index

• type ErrorFn
• type GY61
  • func NewGY61(serialPort Serial, ...) *GY61
  • func (s *GY61) ReadAsync()
• type GY61DataReceivedFn
• type MockSerial
  • func NewMockSerial(ctrl *gomock.Controller) *MockSerial
  • func (m *MockSerial) Close() error
  • func (m *MockSerial) EXPECT() *MockSerialMockRecorder
  • func (m *MockSerial) OpenSerial(c *serial.Config) error
  • func (m *MockSerial) Read(b []byte) (int, error)
  • func (m *MockSerial) Write(b []byte) (int, error)
• type MockSerialMockRecorder
  • func (mr *MockSerialMockRecorder) Close() *gomock.Call
  • func (mr *MockSerialMockRecorder) OpenSerial(c interface{}) *gomock.Call
  • func (mr *MockSerialMockRecorder) Read(b interface{}) *gomock.Call
  • func (mr *MockSerialMockRecorder) Write(b interface{}) *gomock.Call
• type Serial
  • func NewSerial(c *serial.Config) (Serial, error)

Types

type ErrorFn

type ErrorFn func(error)

type GY61

type GY61 struct {
	// contains filtered or unexported fields
}

func NewGY61

func NewGY61(serialPort Serial, gyroReceivedFn, accReceivedFn, anglesReceivedFn GY61DataReceivedFn, onError ErrorFn) *GY61

NewGY61 creates a new instance for gyro data reading

func (*GY61) ReadAsync

func (s *GY61) ReadAsync()

ReadAsync starts goroutine to read data in the background

type GY61DataReceivedFn

type GY61DataReceivedFn func(x, y, z float32)

type MockSerial

type MockSerial struct {
	// contains filtered or unexported fields
}

MockSerial is a mock of Serial interface

func NewMockSerial

func NewMockSerial(ctrl *gomock.Controller) *MockSerial

NewMockSerial creates a new mock instance

func (*MockSerial) Close

func (m *MockSerial) Close() error

Close mocks base method

func (*MockSerial) EXPECT

func (m *MockSerial) EXPECT() *MockSerialMockRecorder

EXPECT returns an object that allows the caller to indicate expected use

func (*MockSerial) OpenSerial

func (m *MockSerial) OpenSerial(c *serial.Config) error

OpenSerial mocks base method

func (*MockSerial) Read

func (m *MockSerial) Read(b []byte) (int, error)

Read mocks base method

func (*MockSerial) Write

func (m *MockSerial) Write(b []byte) (int, error)

Write mocks base method

type MockSerialMockRecorder

type MockSerialMockRecorder struct {
	// contains filtered or unexported fields
}

MockSerialMockRecorder is the mock recorder for MockSerial

func (*MockSerialMockRecorder) Close

func (mr *MockSerialMockRecorder) Close() *gomock.Call

Close indicates an expected call of Close

func (*MockSerialMockRecorder) OpenSerial

func (mr *MockSerialMockRecorder) OpenSerial(c interface{}) *gomock.Call

OpenSerial indicates an expected call of OpenSerial

func (*MockSerialMockRecorder) Read

func (mr *MockSerialMockRecorder) Read(b interface{}) *gomock.Call

Read indicates an expected call of Read

func (*MockSerialMockRecorder) Write

func (mr *MockSerialMockRecorder) Write(b interface{}) *gomock.Call

Write indicates an expected call of Write

type Serial

type Serial interface {
	OpenSerial(c *serial.Config) error
	Write(b []byte) (int, error)
	Read(b []byte) (int, error)
	Close() error
}

func NewSerial

func NewSerial(c *serial.Config) (Serial, error)