JY901.h

00001 #include "mbed.h"
00002 #include "BufferedSerial.h"//波特率在这个头文件中改
00003 class JY901
00004 {
00005     int state, token, payloadLen, recvLen;
00006     unsigned char payloadBuf[16];
00007 protected:
00008         BufferedSerial mod;
00009     float acc[3], gyo[3], mag[3], att[3];
00010     void parseCmpt(int token, unsigned char* payloadBuf, int payloadLen);
00011     void parseInput(const char* data, int len);
00012 public:
00013     JY901(PinName TX, PinName RX) : mod(TX, RX){}
00014     ~JY901() {}
00015     void receiveData();
00016     void getAcc(float &x, float &y, float &z){
00017         x = acc[0];
00018         y = acc[1];
00019         z = acc[2];
00020     }
00021     void getGyo(float &x, float &y, float &z){
00022         x = gyo[0];
00023         y = gyo[1];
00024         z = gyo[2];
00025     }
00026     void getMag(float &x, float &y, float &z){
00027         x = mag[0];
00028         y = mag[1];
00029         z = mag[2];
00030     }
00031     void getAttitude(float &roll, float &pitch, float &yaw){
00032         roll = att[0];
00033         pitch = att[1];
00034         yaw = att[2];
00035     }
00036 };