unfinished
Dependents: WRS_mechanamu_test WRS2019_master mbed_2018 mbed_2019_rx3 ... more
JY901.cpp@6:7e7dd6184774, 2018-11-14 (annotated)
- Committer:
- sgrsn
- Date:
- Wed Nov 14 02:18:02 2018 +0000
- Revision:
- 6:7e7dd6184774
- Parent:
- 5:a492cfb18242
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sgrsn | 0:6ff4cad60b67 | 1 | #include "JY901.h" |
sgrsn | 0:6ff4cad60b67 | 2 | |
sgrsn | 4:cd62e2d69f62 | 3 | JY901::JY901(I2C *i2c) |
sgrsn | 0:6ff4cad60b67 | 4 | { |
sgrsn | 4:cd62e2d69f62 | 5 | _i2c = i2c; |
sgrsn | 0:6ff4cad60b67 | 6 | } |
sgrsn | 5:a492cfb18242 | 7 | JY901::JY901(I2C *i2c, Timer *timer) |
sgrsn | 5:a492cfb18242 | 8 | { |
sgrsn | 5:a492cfb18242 | 9 | _i2c = i2c; |
sgrsn | 5:a492cfb18242 | 10 | _timer = timer; |
sgrsn | 5:a492cfb18242 | 11 | angleZ = 0; |
sgrsn | 5:a492cfb18242 | 12 | for(int i = 0; i < 3; i++) gyroZ[i] = 0; |
sgrsn | 5:a492cfb18242 | 13 | _timer->start(); |
sgrsn | 5:a492cfb18242 | 14 | last_time = 0; |
sgrsn | 5:a492cfb18242 | 15 | time = _timer->read(); |
sgrsn | 5:a492cfb18242 | 16 | } |
sgrsn | 5:a492cfb18242 | 17 | |
sgrsn | 5:a492cfb18242 | 18 | float JY901::calculateAngleOnlyGyro() |
sgrsn | 5:a492cfb18242 | 19 | { |
sgrsn | 5:a492cfb18242 | 20 | last_time = time; |
sgrsn | 5:a492cfb18242 | 21 | time = _timer->read(); |
sgrsn | 5:a492cfb18242 | 22 | for(int i = 2; i > 0; i--) |
sgrsn | 5:a492cfb18242 | 23 | { |
sgrsn | 5:a492cfb18242 | 24 | gyroZ[i] = gyroZ[i-1]; |
sgrsn | 5:a492cfb18242 | 25 | } |
sgrsn | 5:a492cfb18242 | 26 | gyroZ[0] = getZaxisAngularVelocity(); |
sgrsn | 5:a492cfb18242 | 27 | dt = time - last_time; |
sgrsn | 5:a492cfb18242 | 28 | if( gyroZ[0] + gyroZ[2] != 0 ) |
sgrsn | 5:a492cfb18242 | 29 | angleZ += gyroZ[1] * dt; |
sgrsn | 5:a492cfb18242 | 30 | return angleZ; |
sgrsn | 5:a492cfb18242 | 31 | } |
sgrsn | 5:a492cfb18242 | 32 | |
sgrsn | 5:a492cfb18242 | 33 | void JY901::reset() |
sgrsn | 5:a492cfb18242 | 34 | { |
sgrsn | 5:a492cfb18242 | 35 | time = _timer->read(); |
sgrsn | 5:a492cfb18242 | 36 | for(int i = 0; i > 2; i++) |
sgrsn | 5:a492cfb18242 | 37 | { |
sgrsn | 5:a492cfb18242 | 38 | gyroZ[i] = 0; |
sgrsn | 5:a492cfb18242 | 39 | } |
sgrsn | 5:a492cfb18242 | 40 | } |
sgrsn | 0:6ff4cad60b67 | 41 | |
sgrsn | 1:6bcbd18a719a | 42 | void JY901::calibrateGyroAccel() |
sgrsn | 0:6ff4cad60b67 | 43 | { |
sgrsn | 4:cd62e2d69f62 | 44 | _i2c->start(); |
sgrsn | 4:cd62e2d69f62 | 45 | _i2c->write(IICADDR); |
sgrsn | 4:cd62e2d69f62 | 46 | _i2c->write(CALSW); |
sgrsn | 4:cd62e2d69f62 | 47 | _i2c->write(0x01); |
sgrsn | 4:cd62e2d69f62 | 48 | _i2c->write(0x00); |
sgrsn | 4:cd62e2d69f62 | 49 | _i2c->stop(); |
sgrsn | 0:6ff4cad60b67 | 50 | } |
sgrsn | 0:6ff4cad60b67 | 51 | |
sgrsn | 1:6bcbd18a719a | 52 | void JY901::calibrateMagnetic() |
sgrsn | 0:6ff4cad60b67 | 53 | { |
sgrsn | 4:cd62e2d69f62 | 54 | _i2c->start(); |
sgrsn | 4:cd62e2d69f62 | 55 | _i2c->write(IICADDR); |
sgrsn | 4:cd62e2d69f62 | 56 | _i2c->write(CALSW); |
sgrsn | 4:cd62e2d69f62 | 57 | _i2c->write(0x02); |
sgrsn | 4:cd62e2d69f62 | 58 | _i2c->write(0x00); |
sgrsn | 4:cd62e2d69f62 | 59 | _i2c->stop(); |
sgrsn | 0:6ff4cad60b67 | 60 | } |
sgrsn | 0:6ff4cad60b67 | 61 | |
sgrsn | 1:6bcbd18a719a | 62 | void JY901::calibrateHeight() |
sgrsn | 0:6ff4cad60b67 | 63 | { |
sgrsn | 4:cd62e2d69f62 | 64 | _i2c->start(); |
sgrsn | 4:cd62e2d69f62 | 65 | _i2c->write(IICADDR); |
sgrsn | 4:cd62e2d69f62 | 66 | _i2c->write(CALSW); |
sgrsn | 4:cd62e2d69f62 | 67 | _i2c->write(0x03); |
sgrsn | 4:cd62e2d69f62 | 68 | _i2c->write(0x00); |
sgrsn | 4:cd62e2d69f62 | 69 | _i2c->stop(); |
sgrsn | 0:6ff4cad60b67 | 70 | } |
sgrsn | 0:6ff4cad60b67 | 71 | |
sgrsn | 1:6bcbd18a719a | 72 | void JY901::endCalibrate() |
sgrsn | 0:6ff4cad60b67 | 73 | { |
sgrsn | 4:cd62e2d69f62 | 74 | _i2c->start(); |
sgrsn | 4:cd62e2d69f62 | 75 | _i2c->write(IICADDR); |
sgrsn | 4:cd62e2d69f62 | 76 | _i2c->write(CALSW); |
sgrsn | 4:cd62e2d69f62 | 77 | _i2c->write(0x00); |
sgrsn | 4:cd62e2d69f62 | 78 | _i2c->write(0x00); |
sgrsn | 4:cd62e2d69f62 | 79 | _i2c->stop(); |
sgrsn | 0:6ff4cad60b67 | 80 | } |
sgrsn | 0:6ff4cad60b67 | 81 | |
sgrsn | 1:6bcbd18a719a | 82 | void JY901::calibrateAll(int time_ms) |
sgrsn | 0:6ff4cad60b67 | 83 | { |
sgrsn | 1:6bcbd18a719a | 84 | calibrateGyroAccel(); |
sgrsn | 1:6bcbd18a719a | 85 | calibrateMagnetic(); |
sgrsn | 1:6bcbd18a719a | 86 | calibrateHeight(); |
sgrsn | 1:6bcbd18a719a | 87 | wait_ms(time_ms); |
sgrsn | 1:6bcbd18a719a | 88 | endCalibrate(); |
sgrsn | 0:6ff4cad60b67 | 89 | } |
sgrsn | 0:6ff4cad60b67 | 90 | |
sgrsn | 0:6ff4cad60b67 | 91 | int JY901::getYear() |
sgrsn | 0:6ff4cad60b67 | 92 | { |
sgrsn | 0:6ff4cad60b67 | 93 | char *data = getdata(YYMM); |
sgrsn | 0:6ff4cad60b67 | 94 | return (int)(*data); |
sgrsn | 0:6ff4cad60b67 | 95 | } |
sgrsn | 0:6ff4cad60b67 | 96 | |
sgrsn | 0:6ff4cad60b67 | 97 | int JY901::getMonth() |
sgrsn | 0:6ff4cad60b67 | 98 | { |
sgrsn | 0:6ff4cad60b67 | 99 | char *data = getdata(YYMM); |
sgrsn | 0:6ff4cad60b67 | 100 | return (int)(*(data+1)); |
sgrsn | 0:6ff4cad60b67 | 101 | } |
sgrsn | 0:6ff4cad60b67 | 102 | |
sgrsn | 0:6ff4cad60b67 | 103 | int JY901::getDay() |
sgrsn | 0:6ff4cad60b67 | 104 | { |
sgrsn | 0:6ff4cad60b67 | 105 | char *data = getdata(DDHH); |
sgrsn | 0:6ff4cad60b67 | 106 | return (int)(*data); |
sgrsn | 0:6ff4cad60b67 | 107 | } |
sgrsn | 0:6ff4cad60b67 | 108 | |
sgrsn | 0:6ff4cad60b67 | 109 | int JY901::getHour() |
sgrsn | 0:6ff4cad60b67 | 110 | { |
sgrsn | 0:6ff4cad60b67 | 111 | char *data = getdata(DDHH); |
sgrsn | 0:6ff4cad60b67 | 112 | return (int)(*(data+1)); |
sgrsn | 0:6ff4cad60b67 | 113 | } |
sgrsn | 0:6ff4cad60b67 | 114 | |
sgrsn | 0:6ff4cad60b67 | 115 | int JY901::getMinute() |
sgrsn | 0:6ff4cad60b67 | 116 | { |
sgrsn | 0:6ff4cad60b67 | 117 | char *data = getdata(MMSS); |
sgrsn | 0:6ff4cad60b67 | 118 | return (int)(*data); |
sgrsn | 0:6ff4cad60b67 | 119 | } |
sgrsn | 0:6ff4cad60b67 | 120 | |
sgrsn | 0:6ff4cad60b67 | 121 | int JY901::getSecond() |
sgrsn | 0:6ff4cad60b67 | 122 | { |
sgrsn | 0:6ff4cad60b67 | 123 | char *data = getdata(MMSS); |
sgrsn | 0:6ff4cad60b67 | 124 | return (int)(*(data+1)); |
sgrsn | 0:6ff4cad60b67 | 125 | } |
sgrsn | 0:6ff4cad60b67 | 126 | |
sgrsn | 0:6ff4cad60b67 | 127 | int JY901::getMillisecond() |
sgrsn | 0:6ff4cad60b67 | 128 | { |
sgrsn | 0:6ff4cad60b67 | 129 | char *data = getdata(MS); |
sgrsn | 0:6ff4cad60b67 | 130 | return (int)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 131 | } |
sgrsn | 0:6ff4cad60b67 | 132 | |
sgrsn | 0:6ff4cad60b67 | 133 | float JY901::getXaxisAcceleration() |
sgrsn | 0:6ff4cad60b67 | 134 | { |
sgrsn | 0:6ff4cad60b67 | 135 | char *data = getdata(AX); |
sgrsn | 0:6ff4cad60b67 | 136 | return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g; |
sgrsn | 0:6ff4cad60b67 | 137 | } |
sgrsn | 0:6ff4cad60b67 | 138 | |
sgrsn | 0:6ff4cad60b67 | 139 | float JY901::getYaxisAcceleration() |
sgrsn | 0:6ff4cad60b67 | 140 | { |
sgrsn | 0:6ff4cad60b67 | 141 | char *data = getdata(AY); |
sgrsn | 0:6ff4cad60b67 | 142 | return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g; |
sgrsn | 0:6ff4cad60b67 | 143 | } |
sgrsn | 0:6ff4cad60b67 | 144 | |
sgrsn | 0:6ff4cad60b67 | 145 | float JY901::getZaxisAcceleration() |
sgrsn | 0:6ff4cad60b67 | 146 | { |
sgrsn | 0:6ff4cad60b67 | 147 | char *data = getdata(AZ); |
sgrsn | 0:6ff4cad60b67 | 148 | return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g; |
sgrsn | 0:6ff4cad60b67 | 149 | } |
sgrsn | 0:6ff4cad60b67 | 150 | |
sgrsn | 0:6ff4cad60b67 | 151 | float JY901::getXaxisAngularVelocity() |
sgrsn | 0:6ff4cad60b67 | 152 | { |
sgrsn | 0:6ff4cad60b67 | 153 | char *data = getdata(GX); |
sgrsn | 0:6ff4cad60b67 | 154 | return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000; |
sgrsn | 0:6ff4cad60b67 | 155 | } |
sgrsn | 0:6ff4cad60b67 | 156 | |
sgrsn | 0:6ff4cad60b67 | 157 | float JY901::getYaxisAngularVelocity() |
sgrsn | 0:6ff4cad60b67 | 158 | { |
sgrsn | 0:6ff4cad60b67 | 159 | char *data = getdata(GY); |
sgrsn | 0:6ff4cad60b67 | 160 | return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000; |
sgrsn | 0:6ff4cad60b67 | 161 | } |
sgrsn | 0:6ff4cad60b67 | 162 | |
sgrsn | 0:6ff4cad60b67 | 163 | float JY901::getZaxisAngularVelocity() |
sgrsn | 0:6ff4cad60b67 | 164 | { |
sgrsn | 0:6ff4cad60b67 | 165 | char *data = getdata(GZ); |
sgrsn | 5:a492cfb18242 | 166 | //return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000; |
sgrsn | 5:a492cfb18242 | 167 | return s16(*data, *(data+1)) / 32768 * 2000; |
sgrsn | 0:6ff4cad60b67 | 168 | } |
sgrsn | 0:6ff4cad60b67 | 169 | |
sgrsn | 0:6ff4cad60b67 | 170 | float JY901::getXaxisMagnetic() |
sgrsn | 0:6ff4cad60b67 | 171 | { |
sgrsn | 0:6ff4cad60b67 | 172 | char *data = getdata(HX); |
sgrsn | 0:6ff4cad60b67 | 173 | return (float)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 174 | } |
sgrsn | 0:6ff4cad60b67 | 175 | |
sgrsn | 0:6ff4cad60b67 | 176 | float JY901::getYaxisMagnetic() |
sgrsn | 0:6ff4cad60b67 | 177 | { |
sgrsn | 0:6ff4cad60b67 | 178 | char *data = getdata(HY); |
sgrsn | 0:6ff4cad60b67 | 179 | return (float)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 180 | } |
sgrsn | 0:6ff4cad60b67 | 181 | |
sgrsn | 0:6ff4cad60b67 | 182 | float JY901::getZaxisMagnetic() |
sgrsn | 0:6ff4cad60b67 | 183 | { |
sgrsn | 0:6ff4cad60b67 | 184 | char *data = getdata(HZ); |
sgrsn | 0:6ff4cad60b67 | 185 | return (float)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 186 | } |
sgrsn | 0:6ff4cad60b67 | 187 | |
sgrsn | 0:6ff4cad60b67 | 188 | float JY901::getXaxisAngle() |
sgrsn | 0:6ff4cad60b67 | 189 | { |
sgrsn | 0:6ff4cad60b67 | 190 | char *data = getdata(Roll); |
sgrsn | 0:6ff4cad60b67 | 191 | return (float)((*(data+1) << 8) | *data) / 32768 * 180; |
sgrsn | 0:6ff4cad60b67 | 192 | } |
sgrsn | 0:6ff4cad60b67 | 193 | |
sgrsn | 0:6ff4cad60b67 | 194 | float JY901::getYaxisAngle() |
sgrsn | 0:6ff4cad60b67 | 195 | { |
sgrsn | 0:6ff4cad60b67 | 196 | char *data = getdata(Pitch); |
sgrsn | 0:6ff4cad60b67 | 197 | return (float)((*(data+1) << 8) | *data) / 32768 * 180; |
sgrsn | 0:6ff4cad60b67 | 198 | } |
sgrsn | 0:6ff4cad60b67 | 199 | |
sgrsn | 0:6ff4cad60b67 | 200 | float JY901::getZaxisAngle() |
sgrsn | 0:6ff4cad60b67 | 201 | { |
sgrsn | 0:6ff4cad60b67 | 202 | char *data = getdata(Yaw); |
sgrsn | 0:6ff4cad60b67 | 203 | return (float)((*(data+1) << 8) | *data) / 32768 * 180; |
sgrsn | 0:6ff4cad60b67 | 204 | } |
sgrsn | 0:6ff4cad60b67 | 205 | |
sgrsn | 0:6ff4cad60b67 | 206 | float JY901::getTemperature() |
sgrsn | 0:6ff4cad60b67 | 207 | { |
sgrsn | 0:6ff4cad60b67 | 208 | char *data = getdata(TEMP); |
sgrsn | 0:6ff4cad60b67 | 209 | return (float)((*(data+1) << 8) | *data) / 100; |
sgrsn | 0:6ff4cad60b67 | 210 | } |
sgrsn | 0:6ff4cad60b67 | 211 | |
sgrsn | 0:6ff4cad60b67 | 212 | float JY901::getD0Status() |
sgrsn | 0:6ff4cad60b67 | 213 | { |
sgrsn | 0:6ff4cad60b67 | 214 | char *data = getdata(D0Status); |
sgrsn | 0:6ff4cad60b67 | 215 | return (float)((*(data+1) << 8) | *data) / 4095; |
sgrsn | 0:6ff4cad60b67 | 216 | } |
sgrsn | 0:6ff4cad60b67 | 217 | |
sgrsn | 0:6ff4cad60b67 | 218 | float JY901::getD1Status() |
sgrsn | 0:6ff4cad60b67 | 219 | { |
sgrsn | 0:6ff4cad60b67 | 220 | char *data = getdata(D1Status); |
sgrsn | 0:6ff4cad60b67 | 221 | return (float)((*(data+1) << 8) | *data) / 4095; |
sgrsn | 0:6ff4cad60b67 | 222 | } |
sgrsn | 0:6ff4cad60b67 | 223 | |
sgrsn | 0:6ff4cad60b67 | 224 | float JY901::getD2Status() |
sgrsn | 0:6ff4cad60b67 | 225 | { |
sgrsn | 0:6ff4cad60b67 | 226 | char *data = getdata(D2Status); |
sgrsn | 0:6ff4cad60b67 | 227 | return (float)((*(data+1) << 8) | *data) / 4095; |
sgrsn | 0:6ff4cad60b67 | 228 | } |
sgrsn | 0:6ff4cad60b67 | 229 | |
sgrsn | 0:6ff4cad60b67 | 230 | float JY901::getD3Status() |
sgrsn | 0:6ff4cad60b67 | 231 | { |
sgrsn | 0:6ff4cad60b67 | 232 | char *data = getdata(D3Status); |
sgrsn | 0:6ff4cad60b67 | 233 | return (float)((*(data+1) << 8) | *data) / 4095; |
sgrsn | 0:6ff4cad60b67 | 234 | } |
sgrsn | 0:6ff4cad60b67 | 235 | |
sgrsn | 0:6ff4cad60b67 | 236 | float JY901::getPressure() //not use |
sgrsn | 0:6ff4cad60b67 | 237 | { |
sgrsn | 0:6ff4cad60b67 | 238 | char *dataL = getdata(PressureL); |
sgrsn | 0:6ff4cad60b67 | 239 | char *dataH = getdata(PressureH); |
sgrsn | 0:6ff4cad60b67 | 240 | return (float)((*(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL); |
sgrsn | 0:6ff4cad60b67 | 241 | } |
sgrsn | 0:6ff4cad60b67 | 242 | |
sgrsn | 0:6ff4cad60b67 | 243 | float JY901::getHeight() //not use |
sgrsn | 0:6ff4cad60b67 | 244 | { |
sgrsn | 0:6ff4cad60b67 | 245 | char *dataL = getdata(HeightL); |
sgrsn | 0:6ff4cad60b67 | 246 | char *dataH = getdata(HeightH); |
sgrsn | 0:6ff4cad60b67 | 247 | return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL ); |
sgrsn | 0:6ff4cad60b67 | 248 | } |
sgrsn | 0:6ff4cad60b67 | 249 | |
sgrsn | 0:6ff4cad60b67 | 250 | float JY901::getLongitude() //not use |
sgrsn | 0:6ff4cad60b67 | 251 | { |
sgrsn | 0:6ff4cad60b67 | 252 | char *dataL = getdata(LonL); |
sgrsn | 0:6ff4cad60b67 | 253 | char *dataH = getdata(LonH); |
sgrsn | 0:6ff4cad60b67 | 254 | return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL ); |
sgrsn | 0:6ff4cad60b67 | 255 | } |
sgrsn | 0:6ff4cad60b67 | 256 | |
sgrsn | 0:6ff4cad60b67 | 257 | float JY901::getLatitude() //not use |
sgrsn | 0:6ff4cad60b67 | 258 | { |
sgrsn | 0:6ff4cad60b67 | 259 | char *dataL = getdata(LatL); |
sgrsn | 0:6ff4cad60b67 | 260 | char *dataH = getdata(LatH); |
sgrsn | 0:6ff4cad60b67 | 261 | return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL ); |
sgrsn | 0:6ff4cad60b67 | 262 | } |
sgrsn | 0:6ff4cad60b67 | 263 | |
sgrsn | 0:6ff4cad60b67 | 264 | float JY901::getGPSHeight() |
sgrsn | 0:6ff4cad60b67 | 265 | { |
sgrsn | 0:6ff4cad60b67 | 266 | char *data = getdata(GPSHeight); |
sgrsn | 0:6ff4cad60b67 | 267 | return (float)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 268 | } |
sgrsn | 0:6ff4cad60b67 | 269 | float JY901::getGPSYaw() |
sgrsn | 0:6ff4cad60b67 | 270 | { |
sgrsn | 0:6ff4cad60b67 | 271 | char *data = getdata(GPSYaw); |
sgrsn | 0:6ff4cad60b67 | 272 | return (float)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 273 | } |
sgrsn | 0:6ff4cad60b67 | 274 | float JY901::getGPSspeed() |
sgrsn | 0:6ff4cad60b67 | 275 | { |
sgrsn | 0:6ff4cad60b67 | 276 | char *dataL = getdata(GPSVL); |
sgrsn | 0:6ff4cad60b67 | 277 | char *dataH = getdata(GPSVH); |
sgrsn | 0:6ff4cad60b67 | 278 | return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL ); |
sgrsn | 0:6ff4cad60b67 | 279 | } |
sgrsn | 0:6ff4cad60b67 | 280 | |
sgrsn | 0:6ff4cad60b67 | 281 | char *JY901::getdata(char registar) |
sgrsn | 0:6ff4cad60b67 | 282 | { |
sgrsn | 0:6ff4cad60b67 | 283 | char data[2] = {}; |
sgrsn | 4:cd62e2d69f62 | 284 | _i2c->start(); |
sgrsn | 4:cd62e2d69f62 | 285 | _i2c->write(IICADDR); |
sgrsn | 4:cd62e2d69f62 | 286 | _i2c->write(registar); |
sgrsn | 4:cd62e2d69f62 | 287 | _i2c->read(IICADDR, data, 2); |
sgrsn | 4:cd62e2d69f62 | 288 | _i2c->stop(); |
sgrsn | 0:6ff4cad60b67 | 289 | return data; |
sgrsn | 0:6ff4cad60b67 | 290 | } |
sgrsn | 5:a492cfb18242 | 291 | |
sgrsn | 5:a492cfb18242 | 292 | float JY901::s16(int dataL, int dataH) |
sgrsn | 5:a492cfb18242 | 293 | { |
sgrsn | 5:a492cfb18242 | 294 | int value = (dataH << 8) | dataL; |
sgrsn | 5:a492cfb18242 | 295 | return -(value & 0b1000000000000000) | (value & 0b0111111111111111); |
sgrsn | 5:a492cfb18242 | 296 | } |