JY901.h

00001 #ifndef MBED_JY901_H
00002 #define MBED_JY901_H
00003 
00004 #include "mbed.h"
00005 
00006 /*example*************************************
00007 #include "mbed.h"
00008 #include "JY901.h"
00009 
00010 I2C myi2c(p28, p27);
00011 JY901 jy901(&myi2c);
00012 
00013 int main()
00014 {
00015     float angle = 0;
00016     jy901.calibrateAll(5000);
00017     while(1)
00018     {
00019         angle = jy901.getZaxisAngle();
00020         printf("%f\r\n", angle);
00021     }
00022 }
00023 **********************************************/
00024 
00025 #define IICADDR     0xa0 // IIC address 
00026 #define g           9.80665  // Acceleration of gravity
00027 
00028 //#define SAVE        0x00 // Save 
00029 #define CALSW       0x01 // Calibration
00030 #define RSW         0x02 // Return data content
00031 #define RATE        0x03 // Return data Speed
00032 #define BAUD        0x04 // Baud rate
00033 #define AXOFFSET    0x05 // X axis Acceleration bias
00034 #define AYOFFSET    0x06 // Y axis Acceleration bias 
00035 #define AZOFFSET    0x07 // Z axis Acceleration bias
00036 #define GXOFFSET    0x08 // X axis angular velocity bias
00037 #define GYOFFSET    0x09 // Y axis angular velocity bias 
00038 #define GZOFFSET    0x0a // Z axis angular velocity bias
00039 #define HXOFFSET    0x0b // X axis Magnetic bias 
00040 #define HYOFFSET    0x0c // Y axis Magnetic bias 
00041 #define HZOFFSET    0x0d // Z axis Magnetic bias 
00042 #define D0MODE      0x0e // D0 mode 
00043 #define D1MODE      0x0f // D1 mode 
00044 #define D2MODE      0x10 // D2 mode 
00045 #define D3MODE      0x11 // D3 mode 
00046 #define D0PWMH      0x12 // D0PWM High-level width
00047 #define D1PWMH      0x13 // D1PWM High-level width 
00048 #define D2PWMH      0x14 // D2PWM High-level width 
00049 #define D3PWMH      0x15 // D3PWM High-level width 
00050 #define D0PWMT      0x16 // D0PWM Period
00051 #define D1PWMT      0x17 // D1PWM Period 
00052 #define D2PWMT      0x18 // D2PWM Period   
00053 #define D3PWMT      0x19 // D3PWM Period 
00054 #define LEDOFF      0x1b // Turn off LED 
00055 #define GPSBAUD     0x1c // GPS baud rate
00056 
00057 #define YYMM        0x30 // Year、Month
00058 #define DDHH        0x31 // Day、Hour 
00059 #define MMSS        0x32 // Minute、Second 
00060 #define MS          0x33 // Millisecond
00061 #define AX          0x34 // X axis Acceleration 
00062 #define AY          0x35 // Y axis Acceleration
00063 #define AZ          0x36 // Z axis Acceleration 
00064 #define GX          0x37 // X axis angular velocity
00065 #define GY          0x38 // Y axis angular velocity 
00066 #define GZ          0x39 // Z axis angular velocity 
00067 #define HX          0x3a // X axis Magnetic 
00068 #define HY          0x3b // Y axis Magnetic 
00069 #define HZ          0x3c // Z axis Magnetic 
00070 #define Roll        0x3d // X axis Angle
00071 #define Pitch       0x3e // Y axis Angle 
00072 #define Yaw         0x3f // Z axis Angle 
00073 #define TEMP        0x40 // Temperature
00074 #define D0Status    0x41 // D0Status 
00075 #define D1Status    0x42 // D1Status 
00076 #define D2Status    0x43 // D2Status 
00077 #define D3Status    0x44 // D3Status 
00078 #define PressureL   0x45 // Pressure Low Byte 
00079 #define PressureH   0x46 // Pressure High Byte 
00080 #define HeightL     0x47 // Height Low Byte 
00081 #define HeightH     0x48 // Height High Byte 
00082 #define LonL        0x49 // Longitude Low Byte 
00083 #define LonH        0x4a // Longitude High Byte 
00084 #define LatL        0x4b // Latitude Low Byte 
00085 #define LatH        0x4c // Latitude High Byte 
00086 #define GPSHeight   0x4d // GPS Height 
00087 #define GPSYaw      0x4e // GPS Yaw 
00088 #define GPSVL       0x4f // GPS speed Low byte 
00089 #define GPSVH       0x50 // GPS speed High byte 
00090 #define Q0          0x51 // Quaternion Q0 
00091 #define Q1          0x52 // Quaternion Q1 
00092 #define Q2          0x53 // Quaternion Q2 
00093 #define Q3          0x54 // Quaternion Q3
00094 
00095 class JY901
00096 {
00097     public:
00098     JY901(I2C *i2c);
00099     JY901(I2C *i2c, Timer *t);
00100     
00101     /****************************************/
00102     //not recommended
00103     //used only me
00104     float calculateAngleOnlyGyro();
00105     void reset();
00106     /****************************************/
00107 
00108     void calibrateGyroAccel();
00109     void calibrateMagnetic();
00110     void calibrateHeight();
00111     void endCalibrate();
00112     void calibrateAll(int time_ms);
00113     int getYear();
00114     int getMonth();
00115     int getDay();
00116     int getHour();
00117     int getMinute();
00118     int getSecond();
00119     int getMillisecond();
00120     float getXaxisAcceleration();
00121     float getYaxisAcceleration();
00122     float getZaxisAcceleration();
00123     float getXaxisAngularVelocity();
00124     float getYaxisAngularVelocity();
00125     float getZaxisAngularVelocity();
00126     float getXaxisMagnetic();
00127     float getYaxisMagnetic();
00128     float getZaxisMagnetic();
00129     float getXaxisAngle();
00130     float getYaxisAngle();
00131     float getZaxisAngle();
00132     float getTemperature();
00133     float getD0Status();
00134     float getD1Status();
00135     float getD2Status();
00136     float getD3Status();
00137     
00138     /*dnt use   I correct someday*********/
00139     float getPressure();
00140     float getHeight();
00141     float getLongitude();
00142     float getLatitude();
00143     float getGPSHeight();
00144     float getGPSYaw();
00145     float getGPSspeed();
00146     /*************************************/
00147     
00148     private:
00149     char *getdata(char registar);
00150     float s16(int dataL, int dataH);
00151     
00152     float last_time, time, dt;
00153     float gyroZ[3];
00154     float angleZ;
00155     
00156     I2C *_i2c;
00157     Timer *_timer;
00158 };
00159 
00160 #endif