hidaka sato / JY901

unfinished

Dependents:   WRS_mechanamu_test WRS2019_master mbed_2018 mbed_2019_rx3 ... more

JY901.cpp@2:5af50b300137, 2018-04-28 (annotated)

Committer:
sgrsn
Date:
Sat Apr 28 03:55:58 2018 +0000
Revision:
2:5af50b300137
Parent:
1:6bcbd18a719a
Child:
4:cd62e2d69f62
deleat unnecessary function and add example code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sgrsn 0:6ff4cad60b67 1 #include "JY901.h"
sgrsn 0:6ff4cad60b67 2
sgrsn 0:6ff4cad60b67 3 JY901::JY901(PinName sda, PinName scl) : I2C(sda, scl)
sgrsn 0:6ff4cad60b67 4 {
sgrsn 0:6ff4cad60b67 5 }
sgrsn 0:6ff4cad60b67 6
sgrsn 1:6bcbd18a719a 7 void JY901::calibrateGyroAccel()
sgrsn 0:6ff4cad60b67 8 {
sgrsn 0:6ff4cad60b67 9 start();
sgrsn 0:6ff4cad60b67 10 write(IICADDR);
sgrsn 0:6ff4cad60b67 11 write(CALSW);
sgrsn 0:6ff4cad60b67 12 write(0x01);
sgrsn 0:6ff4cad60b67 13 write(0x00);
sgrsn 0:6ff4cad60b67 14 stop();
sgrsn 0:6ff4cad60b67 15 }
sgrsn 0:6ff4cad60b67 16
sgrsn 1:6bcbd18a719a 17 void JY901::calibrateMagnetic()
sgrsn 0:6ff4cad60b67 18 {
sgrsn 0:6ff4cad60b67 19 start();
sgrsn 0:6ff4cad60b67 20 write(IICADDR);
sgrsn 0:6ff4cad60b67 21 write(CALSW);
sgrsn 0:6ff4cad60b67 22 write(0x02);
sgrsn 0:6ff4cad60b67 23 write(0x00);
sgrsn 0:6ff4cad60b67 24 stop();
sgrsn 0:6ff4cad60b67 25 }
sgrsn 0:6ff4cad60b67 26
sgrsn 1:6bcbd18a719a 27 void JY901::calibrateHeight()
sgrsn 0:6ff4cad60b67 28 {
sgrsn 0:6ff4cad60b67 29 start();
sgrsn 0:6ff4cad60b67 30 write(IICADDR);
sgrsn 0:6ff4cad60b67 31 write(CALSW);
sgrsn 0:6ff4cad60b67 32 write(0x03);
sgrsn 0:6ff4cad60b67 33 write(0x00);
sgrsn 0:6ff4cad60b67 34 stop();
sgrsn 0:6ff4cad60b67 35 }
sgrsn 0:6ff4cad60b67 36
sgrsn 1:6bcbd18a719a 37 void JY901::endCalibrate()
sgrsn 0:6ff4cad60b67 38 {
sgrsn 0:6ff4cad60b67 39 start();
sgrsn 0:6ff4cad60b67 40 write(IICADDR);
sgrsn 0:6ff4cad60b67 41 write(CALSW);
sgrsn 0:6ff4cad60b67 42 write(0x00);
sgrsn 0:6ff4cad60b67 43 write(0x00);
sgrsn 0:6ff4cad60b67 44 stop();
sgrsn 0:6ff4cad60b67 45 }
sgrsn 0:6ff4cad60b67 46
sgrsn 1:6bcbd18a719a 47 void JY901::calibrateAll(int time_ms)
sgrsn 0:6ff4cad60b67 48 {
sgrsn 1:6bcbd18a719a 49 calibrateGyroAccel();
sgrsn 1:6bcbd18a719a 50 calibrateMagnetic();
sgrsn 1:6bcbd18a719a 51 calibrateHeight();
sgrsn 1:6bcbd18a719a 52 wait_ms(time_ms);
sgrsn 1:6bcbd18a719a 53 endCalibrate();
sgrsn 0:6ff4cad60b67 54 }
sgrsn 0:6ff4cad60b67 55
sgrsn 0:6ff4cad60b67 56 int JY901::getYear()
sgrsn 0:6ff4cad60b67 57 {
sgrsn 0:6ff4cad60b67 58 char *data = getdata(YYMM);
sgrsn 0:6ff4cad60b67 59 return (int)(*data);
sgrsn 0:6ff4cad60b67 60 }
sgrsn 0:6ff4cad60b67 61
sgrsn 0:6ff4cad60b67 62 int JY901::getMonth()
sgrsn 0:6ff4cad60b67 63 {
sgrsn 0:6ff4cad60b67 64 char *data = getdata(YYMM);
sgrsn 0:6ff4cad60b67 65 return (int)(*(data+1));
sgrsn 0:6ff4cad60b67 66 }
sgrsn 0:6ff4cad60b67 67
sgrsn 0:6ff4cad60b67 68 int JY901::getDay()
sgrsn 0:6ff4cad60b67 69 {
sgrsn 0:6ff4cad60b67 70 char *data = getdata(DDHH);
sgrsn 0:6ff4cad60b67 71 return (int)(*data);
sgrsn 0:6ff4cad60b67 72 }
sgrsn 0:6ff4cad60b67 73
sgrsn 0:6ff4cad60b67 74 int JY901::getHour()
sgrsn 0:6ff4cad60b67 75 {
sgrsn 0:6ff4cad60b67 76 char *data = getdata(DDHH);
sgrsn 0:6ff4cad60b67 77 return (int)(*(data+1));
sgrsn 0:6ff4cad60b67 78 }
sgrsn 0:6ff4cad60b67 79
sgrsn 0:6ff4cad60b67 80 int JY901::getMinute()
sgrsn 0:6ff4cad60b67 81 {
sgrsn 0:6ff4cad60b67 82 char *data = getdata(MMSS);
sgrsn 0:6ff4cad60b67 83 return (int)(*data);
sgrsn 0:6ff4cad60b67 84 }
sgrsn 0:6ff4cad60b67 85
sgrsn 0:6ff4cad60b67 86 int JY901::getSecond()
sgrsn 0:6ff4cad60b67 87 {
sgrsn 0:6ff4cad60b67 88 char *data = getdata(MMSS);
sgrsn 0:6ff4cad60b67 89 return (int)(*(data+1));
sgrsn 0:6ff4cad60b67 90 }
sgrsn 0:6ff4cad60b67 91
sgrsn 0:6ff4cad60b67 92 int JY901::getMillisecond()
sgrsn 0:6ff4cad60b67 93 {
sgrsn 0:6ff4cad60b67 94 char *data = getdata(MS);
sgrsn 0:6ff4cad60b67 95 return (int)((*(data+1) << 8) | *data);
sgrsn 0:6ff4cad60b67 96 }
sgrsn 0:6ff4cad60b67 97
sgrsn 0:6ff4cad60b67 98 float JY901::getXaxisAcceleration()
sgrsn 0:6ff4cad60b67 99 {
sgrsn 0:6ff4cad60b67 100 char *data = getdata(AX);
sgrsn 0:6ff4cad60b67 101 return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g;
sgrsn 0:6ff4cad60b67 102 }
sgrsn 0:6ff4cad60b67 103
sgrsn 0:6ff4cad60b67 104 float JY901::getYaxisAcceleration()
sgrsn 0:6ff4cad60b67 105 {
sgrsn 0:6ff4cad60b67 106 char *data = getdata(AY);
sgrsn 0:6ff4cad60b67 107 return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g;
sgrsn 0:6ff4cad60b67 108 }
sgrsn 0:6ff4cad60b67 109
sgrsn 0:6ff4cad60b67 110 float JY901::getZaxisAcceleration()
sgrsn 0:6ff4cad60b67 111 {
sgrsn 0:6ff4cad60b67 112 char *data = getdata(AZ);
sgrsn 0:6ff4cad60b67 113 return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g;
sgrsn 0:6ff4cad60b67 114 }
sgrsn 0:6ff4cad60b67 115
sgrsn 0:6ff4cad60b67 116 float JY901::getXaxisAngularVelocity()
sgrsn 0:6ff4cad60b67 117 {
sgrsn 0:6ff4cad60b67 118 char *data = getdata(GX);
sgrsn 0:6ff4cad60b67 119 return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000;
sgrsn 0:6ff4cad60b67 120 }
sgrsn 0:6ff4cad60b67 121
sgrsn 0:6ff4cad60b67 122 float JY901::getYaxisAngularVelocity()
sgrsn 0:6ff4cad60b67 123 {
sgrsn 0:6ff4cad60b67 124 char *data = getdata(GY);
sgrsn 0:6ff4cad60b67 125 return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000;
sgrsn 0:6ff4cad60b67 126 }
sgrsn 0:6ff4cad60b67 127
sgrsn 0:6ff4cad60b67 128 float JY901::getZaxisAngularVelocity()
sgrsn 0:6ff4cad60b67 129 {
sgrsn 0:6ff4cad60b67 130 char *data = getdata(GZ);
sgrsn 0:6ff4cad60b67 131 return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000;
sgrsn 0:6ff4cad60b67 132 }
sgrsn 0:6ff4cad60b67 133
sgrsn 0:6ff4cad60b67 134 float JY901::getXaxisMagnetic()
sgrsn 0:6ff4cad60b67 135 {
sgrsn 0:6ff4cad60b67 136 char *data = getdata(HX);
sgrsn 0:6ff4cad60b67 137 return (float)((*(data+1) << 8) | *data);
sgrsn 0:6ff4cad60b67 138 }
sgrsn 0:6ff4cad60b67 139
sgrsn 0:6ff4cad60b67 140 float JY901::getYaxisMagnetic()
sgrsn 0:6ff4cad60b67 141 {
sgrsn 0:6ff4cad60b67 142 char *data = getdata(HY);
sgrsn 0:6ff4cad60b67 143 return (float)((*(data+1) << 8) | *data);
sgrsn 0:6ff4cad60b67 144 }
sgrsn 0:6ff4cad60b67 145
sgrsn 0:6ff4cad60b67 146 float JY901::getZaxisMagnetic()
sgrsn 0:6ff4cad60b67 147 {
sgrsn 0:6ff4cad60b67 148 char *data = getdata(HZ);
sgrsn 0:6ff4cad60b67 149 return (float)((*(data+1) << 8) | *data);
sgrsn 0:6ff4cad60b67 150 }
sgrsn 0:6ff4cad60b67 151
sgrsn 0:6ff4cad60b67 152 float JY901::getXaxisAngle()
sgrsn 0:6ff4cad60b67 153 {
sgrsn 0:6ff4cad60b67 154 char *data = getdata(Roll);
sgrsn 0:6ff4cad60b67 155 return (float)((*(data+1) << 8) | *data) / 32768 * 180;
sgrsn 0:6ff4cad60b67 156 }
sgrsn 0:6ff4cad60b67 157
sgrsn 0:6ff4cad60b67 158 float JY901::getYaxisAngle()
sgrsn 0:6ff4cad60b67 159 {
sgrsn 0:6ff4cad60b67 160 char *data = getdata(Pitch);
sgrsn 0:6ff4cad60b67 161 return (float)((*(data+1) << 8) | *data) / 32768 * 180;
sgrsn 0:6ff4cad60b67 162 }
sgrsn 0:6ff4cad60b67 163
sgrsn 0:6ff4cad60b67 164 float JY901::getZaxisAngle()
sgrsn 0:6ff4cad60b67 165 {
sgrsn 0:6ff4cad60b67 166 char *data = getdata(Yaw);
sgrsn 0:6ff4cad60b67 167 return (float)((*(data+1) << 8) | *data) / 32768 * 180;
sgrsn 0:6ff4cad60b67 168 }
sgrsn 0:6ff4cad60b67 169
sgrsn 0:6ff4cad60b67 170 float JY901::getTemperature()
sgrsn 0:6ff4cad60b67 171 {
sgrsn 0:6ff4cad60b67 172 char *data = getdata(TEMP);
sgrsn 0:6ff4cad60b67 173 return (float)((*(data+1) << 8) | *data) / 100;
sgrsn 0:6ff4cad60b67 174 }
sgrsn 0:6ff4cad60b67 175
sgrsn 0:6ff4cad60b67 176 float JY901::getD0Status()
sgrsn 0:6ff4cad60b67 177 {
sgrsn 0:6ff4cad60b67 178 char *data = getdata(D0Status);
sgrsn 0:6ff4cad60b67 179 return (float)((*(data+1) << 8) | *data) / 4095;
sgrsn 0:6ff4cad60b67 180 }
sgrsn 0:6ff4cad60b67 181
sgrsn 0:6ff4cad60b67 182 float JY901::getD1Status()
sgrsn 0:6ff4cad60b67 183 {
sgrsn 0:6ff4cad60b67 184 char *data = getdata(D1Status);
sgrsn 0:6ff4cad60b67 185 return (float)((*(data+1) << 8) | *data) / 4095;
sgrsn 0:6ff4cad60b67 186 }
sgrsn 0:6ff4cad60b67 187
sgrsn 0:6ff4cad60b67 188 float JY901::getD2Status()
sgrsn 0:6ff4cad60b67 189 {
sgrsn 0:6ff4cad60b67 190 char *data = getdata(D2Status);
sgrsn 0:6ff4cad60b67 191 return (float)((*(data+1) << 8) | *data) / 4095;
sgrsn 0:6ff4cad60b67 192 }
sgrsn 0:6ff4cad60b67 193
sgrsn 0:6ff4cad60b67 194 float JY901::getD3Status()
sgrsn 0:6ff4cad60b67 195 {
sgrsn 0:6ff4cad60b67 196 char *data = getdata(D3Status);
sgrsn 0:6ff4cad60b67 197 return (float)((*(data+1) << 8) | *data) / 4095;
sgrsn 0:6ff4cad60b67 198 }
sgrsn 0:6ff4cad60b67 199
sgrsn 0:6ff4cad60b67 200 float JY901::getPressure() //not use
sgrsn 0:6ff4cad60b67 201 {
sgrsn 0:6ff4cad60b67 202 char *dataL = getdata(PressureL);
sgrsn 0:6ff4cad60b67 203 char *dataH = getdata(PressureH);
sgrsn 0:6ff4cad60b67 204 return (float)((*(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL);
sgrsn 0:6ff4cad60b67 205 }
sgrsn 0:6ff4cad60b67 206
sgrsn 0:6ff4cad60b67 207 float JY901::getHeight() //not use
sgrsn 0:6ff4cad60b67 208 {
sgrsn 0:6ff4cad60b67 209 char *dataL = getdata(HeightL);
sgrsn 0:6ff4cad60b67 210 char *dataH = getdata(HeightH);
sgrsn 0:6ff4cad60b67 211 return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL );
sgrsn 0:6ff4cad60b67 212 }
sgrsn 0:6ff4cad60b67 213
sgrsn 0:6ff4cad60b67 214 float JY901::getLongitude() //not use
sgrsn 0:6ff4cad60b67 215 {
sgrsn 0:6ff4cad60b67 216 char *dataL = getdata(LonL);
sgrsn 0:6ff4cad60b67 217 char *dataH = getdata(LonH);
sgrsn 0:6ff4cad60b67 218 return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL );
sgrsn 0:6ff4cad60b67 219 }
sgrsn 0:6ff4cad60b67 220
sgrsn 0:6ff4cad60b67 221 float JY901::getLatitude() //not use
sgrsn 0:6ff4cad60b67 222 {
sgrsn 0:6ff4cad60b67 223 char *dataL = getdata(LatL);
sgrsn 0:6ff4cad60b67 224 char *dataH = getdata(LatH);
sgrsn 0:6ff4cad60b67 225 return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL );
sgrsn 0:6ff4cad60b67 226 }
sgrsn 0:6ff4cad60b67 227
sgrsn 0:6ff4cad60b67 228 float JY901::getGPSHeight()
sgrsn 0:6ff4cad60b67 229 {
sgrsn 0:6ff4cad60b67 230 char *data = getdata(GPSHeight);
sgrsn 0:6ff4cad60b67 231 return (float)((*(data+1) << 8) | *data);
sgrsn 0:6ff4cad60b67 232 }
sgrsn 0:6ff4cad60b67 233 float JY901::getGPSYaw()
sgrsn 0:6ff4cad60b67 234 {
sgrsn 0:6ff4cad60b67 235 char *data = getdata(GPSYaw);
sgrsn 0:6ff4cad60b67 236 return (float)((*(data+1) << 8) | *data);
sgrsn 0:6ff4cad60b67 237 }
sgrsn 0:6ff4cad60b67 238 float JY901::getGPSspeed()
sgrsn 0:6ff4cad60b67 239 {
sgrsn 0:6ff4cad60b67 240 char *dataL = getdata(GPSVL);
sgrsn 0:6ff4cad60b67 241 char *dataH = getdata(GPSVH);
sgrsn 0:6ff4cad60b67 242 return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL );
sgrsn 0:6ff4cad60b67 243 }
sgrsn 0:6ff4cad60b67 244
sgrsn 0:6ff4cad60b67 245 char *JY901::getdata(char registar)
sgrsn 0:6ff4cad60b67 246 {
sgrsn 0:6ff4cad60b67 247 char data[2] = {};
sgrsn 0:6ff4cad60b67 248 start();
sgrsn 0:6ff4cad60b67 249 write(IICADDR);
sgrsn 0:6ff4cad60b67 250 write(registar);
sgrsn 0:6ff4cad60b67 251 read(IICADDR, data, 2);
sgrsn 0:6ff4cad60b67 252 stop();
sgrsn 0:6ff4cad60b67 253 return data;
sgrsn 0:6ff4cad60b67 254 }