Diff: JY901.cpp

Revision:

0:6ff4cad60b67

Child:

1:6bcbd18a719a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/JY901.cpp	Sun Sep 18 05:42:49 2016 +0000
@@ -0,0 +1,303 @@
+#include "JY901.h"
+
+JY901::JY901(PinName sda, PinName scl) : I2C(sda, scl)
+{
+}
+
+void JY901::Calibrate_Gyro_Accel()
+{
+    start();
+    write(IICADDR);
+    write(CALSW);
+    write(0x01);
+    write(0x00);
+    stop();
+}
+
+void JY901::CalibrateMagnetic()
+{
+    start();
+    write(IICADDR);
+    write(CALSW);
+    write(0x02);
+    write(0x00);
+    stop();
+}
+
+void JY901::CalibrateHeight()
+{
+    start();
+    write(IICADDR);
+    write(CALSW);
+    write(0x03);
+    write(0x00);
+    stop();
+}
+
+void JY901::EndCalibrate()
+{
+    start();
+    write(IICADDR);
+    write(CALSW);
+    write(0x00);
+    write(0x00);
+    stop();   
+}
+
+void JY901::CalibrateAll(int time)
+{
+    Calibrate_Gyro_Accel();
+    wait_ms(time);
+    CalibrateMagnetic();
+    wait_ms(time);
+    CalibrateHeight();
+    wait_ms(time);
+    EndCalibrate();
+}
+
+int JY901::getYear()
+{
+    char *data = getdata(YYMM);
+    return (int)(*data);
+}
+
+int JY901::getMonth()
+{
+    char *data = getdata(YYMM);
+    return (int)(*(data+1));
+}
+
+int JY901::getDay()
+{
+    char *data = getdata(DDHH);
+    return (int)(*data);
+}
+
+int JY901::getHour()
+{
+    char *data = getdata(DDHH);
+    return (int)(*(data+1));
+}
+
+int JY901::getMinute()
+{
+    char *data = getdata(MMSS);
+    return (int)(*data);
+}
+
+int JY901::getSecond()
+{
+    char *data = getdata(MMSS);
+    return (int)(*(data+1));
+}
+
+int JY901::getMillisecond()
+{
+    char *data = getdata(MS);
+    return (int)((*(data+1) << 8) | *data);
+}
+
+float JY901::getXaxisAcceleration()
+{
+    char *data = getdata(AX);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g;
+}
+
+float JY901::getYaxisAcceleration()
+{
+    char *data = getdata(AY);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g;
+}
+
+float JY901::getZaxisAcceleration()
+{
+    char *data = getdata(AZ);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 16 * g;
+}
+
+float JY901::getXaxisAngularVelocity()
+{
+    char *data = getdata(GX);
+    return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000;
+}
+
+float JY901::getYaxisAngularVelocity()
+{
+    char *data = getdata(GY);
+    return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000;
+}
+
+float JY901::getZaxisAngularVelocity()
+{
+    char *data = getdata(GZ);
+    return (float)((*(data+1) << 8 ) | *data) / 32768 * 2000;
+}
+
+float JY901::getXaxisMagnetic()
+{
+    char *data = getdata(HX);
+    return (float)((*(data+1) << 8) | *data);
+}
+
+float JY901::getYaxisMagnetic()
+{
+    char *data = getdata(HY);
+    return (float)((*(data+1) << 8) | *data);
+}
+
+float JY901::getZaxisMagnetic()
+{
+    char *data = getdata(HZ);
+    return (float)((*(data+1) << 8) | *data);
+}
+
+float JY901::getXaxisAngle()
+{
+    char *data = getdata(Roll);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 180;
+}
+
+float JY901::getYaxisAngle()
+{
+    char *data = getdata(Pitch);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 180;
+}
+
+float JY901::getZaxisAngle()
+{
+    char *data = getdata(Yaw);
+    return (float)((*(data+1) << 8) | *data) / 32768 * 180;
+}
+
+float JY901::getTemperature()
+{
+    char *data = getdata(TEMP);
+    return (float)((*(data+1) << 8) | *data) / 100;
+}
+
+float JY901::getD0Status()
+{
+    char *data = getdata(D0Status);
+    return (float)((*(data+1) << 8) | *data) / 4095;
+}
+
+float JY901::getD1Status()
+{
+    char *data = getdata(D1Status);
+    return (float)((*(data+1) << 8) | *data) / 4095;
+}
+
+float JY901::getD2Status()
+{
+    char *data = getdata(D2Status);
+    return (float)((*(data+1) << 8) | *data) / 4095;
+}
+
+float JY901::getD3Status()
+{
+    char *data = getdata(D3Status);
+    return (float)((*(data+1) << 8) | *data) / 4095;
+}
+
+int JY901::getmode(float (JY901::*getFunc)(), const int kaisu)
+{
+    /*exampl
+        printf("%d\r\n", obj.getmode(&JY901::getYawAngle, 10));
+    */
+    int yawangle[128] = {};
+    int samecount[128] = {};
+    int tmpcount[128] = {};
+    int num = 0;
+    for(int i = 0; i < kaisu; i++)
+    {
+        yawangle[i] = (int)((this->*getFunc)() + 0.5);
+    }
+    for(int i = 0; i < kaisu; i++)
+    {
+        for(int j = 0; j < kaisu; j++)
+        {
+            if(yawangle[i] == yawangle[j])
+            {
+                samecount[i]++;
+            }
+        }
+        tmpcount[i] = samecount[i];
+    }
+    for(int i = 0; i < kaisu; i++)
+    {
+        for(int j = 0; j < i; j++)
+        {
+            if(tmpcount[i] > tmpcount[j])
+            {
+                int tmp = tmpcount[j];
+                tmpcount[j] = tmpcount[i];
+                tmpcount[i] = tmp;
+            }
+        }
+    }
+    int mostcount = tmpcount[0];
+    for(int i = 0; i < kaisu; i++)
+    {
+        if(samecount[i] == mostcount)
+        {
+            num = i;
+        }
+    }
+    return yawangle[num];
+}
+
+float JY901::getPressure() //not use
+{
+    char *dataL = getdata(PressureL);
+    char *dataH = getdata(PressureH);
+    return (float)((*(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL);
+}
+
+float JY901::getHeight()   //not use
+{
+    char *dataL = getdata(HeightL);
+    char *dataH = getdata(HeightH);
+    return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL );
+}
+
+float JY901::getLongitude()    //not use
+{
+    char *dataL = getdata(LonL);
+    char *dataH = getdata(LonH);
+    return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL );
+}
+
+float JY901::getLatitude() //not use
+{
+    char *dataL = getdata(LatL);
+    char *dataH = getdata(LatH);
+    return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL );
+}
+
+float JY901::getGPSHeight()
+{
+    char *data = getdata(GPSHeight);
+    return (float)((*(data+1) << 8) | *data);
+}
+float JY901::getGPSYaw()
+{
+    char *data = getdata(GPSYaw);
+    return (float)((*(data+1) << 8) | *data);
+}
+float JY901::getGPSspeed()
+{   
+    char *dataL = getdata(GPSVL);
+    char *dataH = getdata(GPSVH);
+    return (float)( ( *(dataH+1) << 24) | (*dataH << 16) | (*(dataL+1) << 8) | *dataL );
+}
+
+char *JY901::getdata(char registar)
+{
+    char data[2] = {};
+    start();
+    write(IICADDR);
+    write(registar);
+    read(IICADDR, data, 2);
+    stop();
+    return data;
+}