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 ¶
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type GY61 ¶
type GY61 struct {
// contains filtered or unexported fields
}
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) 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
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
Source Files
Directories