Diff: JY901.cpp

Revision:

4:876bfa91934c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/JY901.cpp	Wed Nov 08 06:24:17 2017 +0000
@@ -0,0 +1,93 @@
+
+#include "JY901.h"
+void JY901::receiveData()
+{
+    char ch;
+    while(mod.readable()){
+        ch = mod.getc();
+        parseInput(&ch, 1);
+    }
+}
+void JY901::parseCmpt(int token, unsigned char* payloadBuf, int payloadLen)
+{
+    switch(token){
+        case 0x51:
+            for (int i = 0; i < 3; ++i)
+            {
+                acc[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+                acc[i] = acc[i] * 16 * 9.8 / 32768;
+            }
+            // lcd.cls();
+            // lcd.printf("Ax=%d\n",int(data[0]*100));
+            //pc.printf("Ax=%.2f\tAy=%.2f\tAz=%.2f\r\n", data[0], data[1], data[2]);
+            break;
+        case 0x52:
+            for (int i = 0; i < 3; ++i)
+            {
+                gyo[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+                gyo[i] = gyo[i] * 2000 / 32768;
+            }
+            //pc.printf("Wx=%.2f\tWy=%.2f\tWz=%.2f\r\n", data[0], data[1], data[2]);
+            break;
+        case 0x53:
+            for (int i = 0; i < 3; ++i)
+            {
+                att[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+                att[i] = att[i] * 180 / 32768;
+            }
+            // pc.printf("Roll=%.2f\tPitch=%.2f\tYaw=%.2f\r\n", data[0], data[1], data[2]);
+            break;
+        case 0x54:
+            for (int i = 0; i < 3; ++i)
+            {
+                mag[i] = payloadBuf[i*2]|((int)payloadBuf[i*2+1]<<8);
+            }
+            //pc.printf("Hx=%.2f\tHy=%.2f\tHz=%.2f\r\n", data[0], data[1], data[2]);
+            break;
+    }
+}
+void JY901::parseInput(const char* data, int len)
+{
+    for (int i = 0; i < len; ++i)
+    {
+        unsigned char ch = data[i], sum;
+        switch(state){
+            case 0:
+                if(ch == 0x55)
+                    state = 1;
+                break;
+            case 1:
+                token = ch;
+                if(0x51 <= token && token <= 0x54){
+                    payloadLen = 8;
+                    recvLen = 0;
+                    state = 2;
+                }else{
+                    // pc.printf("%s %x\r\n", "unknown token", token);
+                    state = 0;
+                }
+                break;
+            case 2:
+                payloadBuf[recvLen++] = ch;
+                if(recvLen == payloadLen){
+                    state = 3;
+                }
+                break;
+            case 3:
+                sum = 0x55;
+                sum += token;
+                for (int i = 0; i < payloadLen; ++i)
+                {
+                    sum += payloadBuf[i];
+                }
+                if(sum != ch){
+                    // pc.printf("wrong checksum\r\n");
+                }else{
+                    parseCmpt(token, payloadBuf, payloadLen);
+                    //myled = !myled;
+                }
+                state = 0;
+                break;
+        }
+    }
+}
\ No newline at end of file