unfinished
Dependents: WRS_mechanamu_test WRS2019_master mbed_2018 mbed_2019_rx3 ... more
JY901.cpp@4:cd62e2d69f62, 2018-08-23 (annotated)
- Committer:
- sgrsn
- Date:
- Thu Aug 23 05:33:30 2018 +0000
- Revision:
- 4:cd62e2d69f62
- Parent:
- 2:5af50b300137
- Child:
- 5:a492cfb18242
saving memory
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 | 0:6ff4cad60b67 | 7 | |
sgrsn | 1:6bcbd18a719a | 8 | void JY901::calibrateGyroAccel() |
sgrsn | 0:6ff4cad60b67 | 9 | { |
sgrsn | 4:cd62e2d69f62 | 10 | _i2c->start(); |
sgrsn | 4:cd62e2d69f62 | 11 | _i2c->write(IICADDR); |
sgrsn | 4:cd62e2d69f62 | 12 | _i2c->write(CALSW); |
sgrsn | 4:cd62e2d69f62 | 13 | _i2c->write(0x01); |
sgrsn | 4:cd62e2d69f62 | 14 | _i2c->write(0x00); |
sgrsn | 4:cd62e2d69f62 | 15 | _i2c->stop(); |
sgrsn | 0:6ff4cad60b67 | 16 | } |
sgrsn | 0:6ff4cad60b67 | 17 | |
sgrsn | 1:6bcbd18a719a | 18 | void JY901::calibrateMagnetic() |
sgrsn | 0:6ff4cad60b67 | 19 | { |
sgrsn | 4:cd62e2d69f62 | 20 | _i2c->start(); |
sgrsn | 4:cd62e2d69f62 | 21 | _i2c->write(IICADDR); |
sgrsn | 4:cd62e2d69f62 | 22 | _i2c->write(CALSW); |
sgrsn | 4:cd62e2d69f62 | 23 | _i2c->write(0x02); |
sgrsn | 4:cd62e2d69f62 | 24 | _i2c->write(0x00); |
sgrsn | 4:cd62e2d69f62 | 25 | _i2c->stop(); |
sgrsn | 0:6ff4cad60b67 | 26 | } |
sgrsn | 0:6ff4cad60b67 | 27 | |
sgrsn | 1:6bcbd18a719a | 28 | void JY901::calibrateHeight() |
sgrsn | 0:6ff4cad60b67 | 29 | { |
sgrsn | 4:cd62e2d69f62 | 30 | _i2c->start(); |
sgrsn | 4:cd62e2d69f62 | 31 | _i2c->write(IICADDR); |
sgrsn | 4:cd62e2d69f62 | 32 | _i2c->write(CALSW); |
sgrsn | 4:cd62e2d69f62 | 33 | _i2c->write(0x03); |
sgrsn | 4:cd62e2d69f62 | 34 | _i2c->write(0x00); |
sgrsn | 4:cd62e2d69f62 | 35 | _i2c->stop(); |
sgrsn | 0:6ff4cad60b67 | 36 | } |
sgrsn | 0:6ff4cad60b67 | 37 | |
sgrsn | 1:6bcbd18a719a | 38 | void JY901::endCalibrate() |
sgrsn | 0:6ff4cad60b67 | 39 | { |
sgrsn | 4:cd62e2d69f62 | 40 | _i2c->start(); |
sgrsn | 4:cd62e2d69f62 | 41 | _i2c->write(IICADDR); |
sgrsn | 4:cd62e2d69f62 | 42 | _i2c->write(CALSW); |
sgrsn | 4:cd62e2d69f62 | 43 | _i2c->write(0x00); |
sgrsn | 4:cd62e2d69f62 | 44 | _i2c->write(0x00); |
sgrsn | 4:cd62e2d69f62 | 45 | _i2c->stop(); |
sgrsn | 0:6ff4cad60b67 | 46 | } |
sgrsn | 0:6ff4cad60b67 | 47 | |
sgrsn | 1:6bcbd18a719a | 48 | void JY901::calibrateAll(int time_ms) |
sgrsn | 0:6ff4cad60b67 | 49 | { |
sgrsn | 1:6bcbd18a719a | 50 | calibrateGyroAccel(); |
sgrsn | 1:6bcbd18a719a | 51 | calibrateMagnetic(); |
sgrsn | 1:6bcbd18a719a | 52 | calibrateHeight(); |
sgrsn | 1:6bcbd18a719a | 53 | wait_ms(time_ms); |
sgrsn | 1:6bcbd18a719a | 54 | endCalibrate(); |
sgrsn | 0:6ff4cad60b67 | 55 | } |
sgrsn | 0:6ff4cad60b67 | 56 | |
sgrsn | 0:6ff4cad60b67 | 57 | int JY901::getYear() |
sgrsn | 0:6ff4cad60b67 | 58 | { |
sgrsn | 0:6ff4cad60b67 | 59 | char *data = getdata(YYMM); |
sgrsn | 0:6ff4cad60b67 | 60 | return (int)(*data); |
sgrsn | 0:6ff4cad60b67 | 61 | } |
sgrsn | 0:6ff4cad60b67 | 62 | |
sgrsn | 0:6ff4cad60b67 | 63 | int JY901::getMonth() |
sgrsn | 0:6ff4cad60b67 | 64 | { |
sgrsn | 0:6ff4cad60b67 | 65 | char *data = getdata(YYMM); |
sgrsn | 0:6ff4cad60b67 | 66 | return (int)(*(data+1)); |
sgrsn | 0:6ff4cad60b67 | 67 | } |
sgrsn | 0:6ff4cad60b67 | 68 | |
sgrsn | 0:6ff4cad60b67 | 69 | int JY901::getDay() |
sgrsn | 0:6ff4cad60b67 | 70 | { |
sgrsn | 0:6ff4cad60b67 | 71 | char *data = getdata(DDHH); |
sgrsn | 0:6ff4cad60b67 | 72 | return (int)(*data); |
sgrsn | 0:6ff4cad60b67 | 73 | } |
sgrsn | 0:6ff4cad60b67 | 74 | |
sgrsn | 0:6ff4cad60b67 | 75 | int JY901::getHour() |
sgrsn | 0:6ff4cad60b67 | 76 | { |
sgrsn | 0:6ff4cad60b67 | 77 | char *data = getdata(DDHH); |
sgrsn | 0:6ff4cad60b67 | 78 | return (int)(*(data+1)); |
sgrsn | 0:6ff4cad60b67 | 79 | } |
sgrsn | 0:6ff4cad60b67 | 80 | |
sgrsn | 0:6ff4cad60b67 | 81 | int JY901::getMinute() |
sgrsn | 0:6ff4cad60b67 | 82 | { |
sgrsn | 0:6ff4cad60b67 | 83 | char *data = getdata(MMSS); |
sgrsn | 0:6ff4cad60b67 | 84 | return (int)(*data); |
sgrsn | 0:6ff4cad60b67 | 85 | } |
sgrsn | 0:6ff4cad60b67 | 86 | |
sgrsn | 0:6ff4cad60b67 | 87 | int JY901::getSecond() |
sgrsn | 0:6ff4cad60b67 | 88 | { |
sgrsn | 0:6ff4cad60b67 | 89 | char *data = getdata(MMSS); |
sgrsn | 0:6ff4cad60b67 | 90 | return (int)(*(data+1)); |
sgrsn | 0:6ff4cad60b67 | 91 | } |
sgrsn | 0:6ff4cad60b67 | 92 | |
sgrsn | 0:6ff4cad60b67 | 93 | int JY901::getMillisecond() |
sgrsn | 0:6ff4cad60b67 | 94 | { |
sgrsn | 0:6ff4cad60b67 | 95 | char *data = getdata(MS); |
sgrsn | 0:6ff4cad60b67 | 96 | return (int)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 97 | } |
sgrsn | 0:6ff4cad60b67 | 98 | |
sgrsn | 0:6ff4cad60b67 | 99 | float JY901::getXaxisAcceleration() |
sgrsn | 0:6ff4cad60b67 | 100 | { |
sgrsn | 0:6ff4cad60b67 | 101 | char *data = getdata(AX); |
sgrsn | 0:6ff4cad60b67 | 102 | return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g; |
sgrsn | 0:6ff4cad60b67 | 103 | } |
sgrsn | 0:6ff4cad60b67 | 104 | |
sgrsn | 0:6ff4cad60b67 | 105 | float JY901::getYaxisAcceleration() |
sgrsn | 0:6ff4cad60b67 | 106 | { |
sgrsn | 0:6ff4cad60b67 | 107 | char *data = getdata(AY); |
sgrsn | 0:6ff4cad60b67 | 108 | return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g; |
sgrsn | 0:6ff4cad60b67 | 109 | } |
sgrsn | 0:6ff4cad60b67 | 110 | |
sgrsn | 0:6ff4cad60b67 | 111 | float JY901::getZaxisAcceleration() |
sgrsn | 0:6ff4cad60b67 | 112 | { |
sgrsn | 0:6ff4cad60b67 | 113 | char *data = getdata(AZ); |
sgrsn | 0:6ff4cad60b67 | 114 | return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g; |
sgrsn | 0:6ff4cad60b67 | 115 | } |
sgrsn | 0:6ff4cad60b67 | 116 | |
sgrsn | 0:6ff4cad60b67 | 117 | float JY901::getXaxisAngularVelocity() |
sgrsn | 0:6ff4cad60b67 | 118 | { |
sgrsn | 0:6ff4cad60b67 | 119 | char *data = getdata(GX); |
sgrsn | 0:6ff4cad60b67 | 120 | return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000; |
sgrsn | 0:6ff4cad60b67 | 121 | } |
sgrsn | 0:6ff4cad60b67 | 122 | |
sgrsn | 0:6ff4cad60b67 | 123 | float JY901::getYaxisAngularVelocity() |
sgrsn | 0:6ff4cad60b67 | 124 | { |
sgrsn | 0:6ff4cad60b67 | 125 | char *data = getdata(GY); |
sgrsn | 0:6ff4cad60b67 | 126 | return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000; |
sgrsn | 0:6ff4cad60b67 | 127 | } |
sgrsn | 0:6ff4cad60b67 | 128 | |
sgrsn | 0:6ff4cad60b67 | 129 | float JY901::getZaxisAngularVelocity() |
sgrsn | 0:6ff4cad60b67 | 130 | { |
sgrsn | 0:6ff4cad60b67 | 131 | char *data = getdata(GZ); |
sgrsn | 0:6ff4cad60b67 | 132 | return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000; |
sgrsn | 0:6ff4cad60b67 | 133 | } |
sgrsn | 0:6ff4cad60b67 | 134 | |
sgrsn | 0:6ff4cad60b67 | 135 | float JY901::getXaxisMagnetic() |
sgrsn | 0:6ff4cad60b67 | 136 | { |
sgrsn | 0:6ff4cad60b67 | 137 | char *data = getdata(HX); |
sgrsn | 0:6ff4cad60b67 | 138 | return (float)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 139 | } |
sgrsn | 0:6ff4cad60b67 | 140 | |
sgrsn | 0:6ff4cad60b67 | 141 | float JY901::getYaxisMagnetic() |
sgrsn | 0:6ff4cad60b67 | 142 | { |
sgrsn | 0:6ff4cad60b67 | 143 | char *data = getdata(HY); |
sgrsn | 0:6ff4cad60b67 | 144 | return (float)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 145 | } |
sgrsn | 0:6ff4cad60b67 | 146 | |
sgrsn | 0:6ff4cad60b67 | 147 | float JY901::getZaxisMagnetic() |
sgrsn | 0:6ff4cad60b67 | 148 | { |
sgrsn | 0:6ff4cad60b67 | 149 | char *data = getdata(HZ); |
sgrsn | 0:6ff4cad60b67 | 150 | return (float)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 151 | } |
sgrsn | 0:6ff4cad60b67 | 152 | |
sgrsn | 0:6ff4cad60b67 | 153 | float JY901::getXaxisAngle() |
sgrsn | 0:6ff4cad60b67 | 154 | { |
sgrsn | 0:6ff4cad60b67 | 155 | char *data = getdata(Roll); |
sgrsn | 0:6ff4cad60b67 | 156 | return (float)((*(data+1) << 8) | *data) / 32768 * 180; |
sgrsn | 0:6ff4cad60b67 | 157 | } |
sgrsn | 0:6ff4cad60b67 | 158 | |
sgrsn | 0:6ff4cad60b67 | 159 | float JY901::getYaxisAngle() |
sgrsn | 0:6ff4cad60b67 | 160 | { |
sgrsn | 0:6ff4cad60b67 | 161 | char *data = getdata(Pitch); |
sgrsn | 0:6ff4cad60b67 | 162 | return (float)((*(data+1) << 8) | *data) / 32768 * 180; |
sgrsn | 0:6ff4cad60b67 | 163 | } |
sgrsn | 0:6ff4cad60b67 | 164 | |
sgrsn | 0:6ff4cad60b67 | 165 | float JY901::getZaxisAngle() |
sgrsn | 0:6ff4cad60b67 | 166 | { |
sgrsn | 0:6ff4cad60b67 | 167 | char *data = getdata(Yaw); |
sgrsn | 0:6ff4cad60b67 | 168 | return (float)((*(data+1) << 8) | *data) / 32768 * 180; |
sgrsn | 0:6ff4cad60b67 | 169 | } |
sgrsn | 0:6ff4cad60b67 | 170 | |
sgrsn | 0:6ff4cad60b67 | 171 | float JY901::getTemperature() |
sgrsn | 0:6ff4cad60b67 | 172 | { |
sgrsn | 0:6ff4cad60b67 | 173 | char *data = getdata(TEMP); |
sgrsn | 0:6ff4cad60b67 | 174 | return (float)((*(data+1) << 8) | *data) / 100; |
sgrsn | 0:6ff4cad60b67 | 175 | } |
sgrsn | 0:6ff4cad60b67 | 176 | |
sgrsn | 0:6ff4cad60b67 | 177 | float JY901::getD0Status() |
sgrsn | 0:6ff4cad60b67 | 178 | { |
sgrsn | 0:6ff4cad60b67 | 179 | char *data = getdata(D0Status); |
sgrsn | 0:6ff4cad60b67 | 180 | return (float)((*(data+1) << 8) | *data) / 4095; |
sgrsn | 0:6ff4cad60b67 | 181 | } |
sgrsn | 0:6ff4cad60b67 | 182 | |
sgrsn | 0:6ff4cad60b67 | 183 | float JY901::getD1Status() |
sgrsn | 0:6ff4cad60b67 | 184 | { |
sgrsn | 0:6ff4cad60b67 | 185 | char *data = getdata(D1Status); |
sgrsn | 0:6ff4cad60b67 | 186 | return (float)((*(data+1) << 8) | *data) / 4095; |
sgrsn | 0:6ff4cad60b67 | 187 | } |
sgrsn | 0:6ff4cad60b67 | 188 | |
sgrsn | 0:6ff4cad60b67 | 189 | float JY901::getD2Status() |
sgrsn | 0:6ff4cad60b67 | 190 | { |
sgrsn | 0:6ff4cad60b67 | 191 | char *data = getdata(D2Status); |
sgrsn | 0:6ff4cad60b67 | 192 | return (float)((*(data+1) << 8) | *data) / 4095; |
sgrsn | 0:6ff4cad60b67 | 193 | } |
sgrsn | 0:6ff4cad60b67 | 194 | |
sgrsn | 0:6ff4cad60b67 | 195 | float JY901::getD3Status() |
sgrsn | 0:6ff4cad60b67 | 196 | { |
sgrsn | 0:6ff4cad60b67 | 197 | char *data = getdata(D3Status); |
sgrsn | 0:6ff4cad60b67 | 198 | return (float)((*(data+1) << 8) | *data) / 4095; |
sgrsn | 0:6ff4cad60b67 | 199 | } |
sgrsn | 0:6ff4cad60b67 | 200 | |
sgrsn | 0:6ff4cad60b67 | 201 | float JY901::getPressure() //not use |
sgrsn | 0:6ff4cad60b67 | 202 | { |
sgrsn | 0:6ff4cad60b67 | 203 | char *dataL = getdata(PressureL); |
sgrsn | 0:6ff4cad60b67 | 204 | char *dataH = getdata(PressureH); |
sgrsn | 0:6ff4cad60b67 | 205 | return (float)((*(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL); |
sgrsn | 0:6ff4cad60b67 | 206 | } |
sgrsn | 0:6ff4cad60b67 | 207 | |
sgrsn | 0:6ff4cad60b67 | 208 | float JY901::getHeight() //not use |
sgrsn | 0:6ff4cad60b67 | 209 | { |
sgrsn | 0:6ff4cad60b67 | 210 | char *dataL = getdata(HeightL); |
sgrsn | 0:6ff4cad60b67 | 211 | char *dataH = getdata(HeightH); |
sgrsn | 0:6ff4cad60b67 | 212 | return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL ); |
sgrsn | 0:6ff4cad60b67 | 213 | } |
sgrsn | 0:6ff4cad60b67 | 214 | |
sgrsn | 0:6ff4cad60b67 | 215 | float JY901::getLongitude() //not use |
sgrsn | 0:6ff4cad60b67 | 216 | { |
sgrsn | 0:6ff4cad60b67 | 217 | char *dataL = getdata(LonL); |
sgrsn | 0:6ff4cad60b67 | 218 | char *dataH = getdata(LonH); |
sgrsn | 0:6ff4cad60b67 | 219 | return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL ); |
sgrsn | 0:6ff4cad60b67 | 220 | } |
sgrsn | 0:6ff4cad60b67 | 221 | |
sgrsn | 0:6ff4cad60b67 | 222 | float JY901::getLatitude() //not use |
sgrsn | 0:6ff4cad60b67 | 223 | { |
sgrsn | 0:6ff4cad60b67 | 224 | char *dataL = getdata(LatL); |
sgrsn | 0:6ff4cad60b67 | 225 | char *dataH = getdata(LatH); |
sgrsn | 0:6ff4cad60b67 | 226 | return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL ); |
sgrsn | 0:6ff4cad60b67 | 227 | } |
sgrsn | 0:6ff4cad60b67 | 228 | |
sgrsn | 0:6ff4cad60b67 | 229 | float JY901::getGPSHeight() |
sgrsn | 0:6ff4cad60b67 | 230 | { |
sgrsn | 0:6ff4cad60b67 | 231 | char *data = getdata(GPSHeight); |
sgrsn | 0:6ff4cad60b67 | 232 | return (float)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 233 | } |
sgrsn | 0:6ff4cad60b67 | 234 | float JY901::getGPSYaw() |
sgrsn | 0:6ff4cad60b67 | 235 | { |
sgrsn | 0:6ff4cad60b67 | 236 | char *data = getdata(GPSYaw); |
sgrsn | 0:6ff4cad60b67 | 237 | return (float)((*(data+1) << 8) | *data); |
sgrsn | 0:6ff4cad60b67 | 238 | } |
sgrsn | 0:6ff4cad60b67 | 239 | float JY901::getGPSspeed() |
sgrsn | 0:6ff4cad60b67 | 240 | { |
sgrsn | 0:6ff4cad60b67 | 241 | char *dataL = getdata(GPSVL); |
sgrsn | 0:6ff4cad60b67 | 242 | char *dataH = getdata(GPSVH); |
sgrsn | 0:6ff4cad60b67 | 243 | return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL ); |
sgrsn | 0:6ff4cad60b67 | 244 | } |
sgrsn | 0:6ff4cad60b67 | 245 | |
sgrsn | 0:6ff4cad60b67 | 246 | char *JY901::getdata(char registar) |
sgrsn | 0:6ff4cad60b67 | 247 | { |
sgrsn | 0:6ff4cad60b67 | 248 | char data[2] = {}; |
sgrsn | 4:cd62e2d69f62 | 249 | _i2c->start(); |
sgrsn | 4:cd62e2d69f62 | 250 | _i2c->write(IICADDR); |
sgrsn | 4:cd62e2d69f62 | 251 | _i2c->write(registar); |
sgrsn | 4:cd62e2d69f62 | 252 | _i2c->read(IICADDR, data, 2); |
sgrsn | 4:cd62e2d69f62 | 253 | _i2c->stop(); |
sgrsn | 0:6ff4cad60b67 | 254 | return data; |
sgrsn | 0:6ff4cad60b67 | 255 | } |