Diff: JY901.h

Revision:

5:a492cfb18242

Parent:

4:cd62e2d69f62

Child:

6:7e7dd6184774

diff -r cd62e2d69f62 -r a492cfb18242 JY901.h
--- a/JY901.h	Thu Aug 23 05:33:30 2018 +0000
+++ b/JY901.h	Wed Nov 14 02:14:58 2018 +0000
@@ -23,9 +23,9 @@
 **********************************************/
 
 #define IICADDR     0xa0 // IIC address 
-#define g           9.8  // Acceleration of gravity
+#define g           9.80665  // Acceleration of gravity
 
-#define SAVE        0x00 // Save 
+//#define SAVE        0x00 // Save 
 #define CALSW       0x01 // Calibration
 #define RSW         0x02 // Return data content
 #define RATE        0x03 // Return data Speed
@@ -96,6 +96,14 @@
 {
     public:
     JY901(I2C *i2c);
+    JY901(I2C *i2c, Timer *t);
+    
+    /****************************************/
+    //not recommended
+    //used onle me
+    float calculateAngleOnlyGyro();
+    void reset();
+    /****************************************/
 
     void calibrateGyroAccel();
     void calibrateMagnetic();
@@ -139,8 +147,14 @@
     
     private:
     char *getdata(char registar);
+    float s16(int dataL, int dataH);
+    
+    float last_time, time, dt;
+    float gyroZ[3];
+    float angleZ;
     
     I2C *_i2c;
+    Timer *_timer;
 };
 
 #endif
\ No newline at end of file