Diff: jy901.cpp

Revision:

0:f80d034ed481

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jy901.cpp	Wed Aug 23 05:25:50 2017 +0000
@@ -0,0 +1,122 @@
+#include "jy901.h"
+
+JY901::JY901(PinName sda, PinName scl) : I2C(sda, scl)
+{
+}
+
+void JY901::calibrateGyroAccel()
+{
+    char calibrationRegistar[3]= {CALSW,0x01,0x00};
+    write(IICADDR,calibrationRegistar,3,false);
+}
+
+void JY901::calibrateMagnetic()
+{
+    char calibrationRegistar[3]= {CALSW,0x02,0x00};
+    write(IICADDR,calibrationRegistar,3,false);
+}
+
+void JY901::calibrateHeight()
+{
+    char calibrationRegistar[3]= {CALSW,0x03,0x00};
+    write(IICADDR,calibrationRegistar,3,false);
+}
+
+void JY901::endCalibrate()
+{
+    char calibrationRegistar[3]= {CALSW,0x00,0x00};
+    write(IICADDR,calibrationRegistar,3,false);
+}
+
+void JY901::calibrateAll(int time)
+{
+    calibrateGyroAccel();
+    wait_ms(time);
+    calibrateMagnetic();
+    wait_ms(time);
+    calibrateHeight();
+    wait_ms(time);
+    endCalibrate();
+}
+
+float JY901::getXaxisAcceleration()
+{
+    char *data = getdata(AX);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g;
+}
+
+float JY901::getYaxisAcceleration()
+{
+    char *data = getdata(AY);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g;
+}
+
+float JY901::getZaxisAcceleration()
+{
+    char *data = getdata(AZ);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g;
+}
+
+float JY901::getXaxisAngularVelocity()
+{
+    char *data = getdata(GX);
+    return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000;
+}
+
+float JY901::getYaxisAngularVelocity()
+{
+    char *data = getdata(GY);
+    return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000;
+}
+
+float JY901::getZaxisAngularVelocity()
+{
+    char *data = getdata(GZ);
+    return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000;
+}
+
+float JY901::getXaxisMagnetic()
+{
+    char *data = getdata(HX);
+    return (float)((*(data+1) << 8) | *data);
+}
+
+float JY901::getYaxisMagnetic()
+{
+    char *data = getdata(HY);
+    return (float)((*(data+1) << 8) | *data);
+}
+
+float JY901::getZaxisMagnetic()
+{
+    char *data = getdata(HZ);
+    return (float)((*(data+1) << 8) | *data);
+}
+
+float JY901::getXaxisAngle()
+{
+    char *data = getdata(Roll);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 180;
+}
+
+float JY901::getYaxisAngle()
+{
+    char *data = getdata(Pitch);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 180;
+}
+
+float JY901::getZaxisAngle()
+{
+    char *data = getdata(Yaw);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 180;
+}
+
+
+
+char *JY901::getdata(char registar)
+{
+    char data[2] = {};
+    write(IICADDR,&registar,1,true);
+    read(IICADDR,data,2,false);
+    return data;
+}