fly_v1
Dependencies: BufferedSerial SoftPWM mbed send
Fork of withbufferserial_nrftst by
Diff: JY901/JY901.h
- Revision:
- 6:6e0f02edb404
- Parent:
- 5:683542d82dd7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/JY901/JY901.h Sun Dec 24 03:15:15 2017 +0000 @@ -0,0 +1,36 @@ +#include "mbed.h" +#include "BufferedSerial.h"//波特率在这个头文件中改 +class JY901 +{ + int state, token, payloadLen, recvLen; + unsigned char payloadBuf[16]; +protected: + BufferedSerial mod; + float acc[3], gyo[3], mag[3], att[3]; + void parseCmpt(int token, unsigned char* payloadBuf, int payloadLen); + void parseInput(const char* data, int len); +public: + JY901(PinName TX, PinName RX) : mod(TX, RX){} + ~JY901() {} + void receiveData(); + void getAcc(float &x, float &y, float &z){ + x = acc[0]; + y = acc[1]; + z = acc[2]; + } + void getGyo(float &x, float &y, float &z){ + x = gyo[0]; + y = gyo[1]; + z = gyo[2]; + } + void getMag(float &x, float &y, float &z){ + x = mag[0]; + y = mag[1]; + z = mag[2]; + } + void getAttitude(float &roll, float &pitch, float &yaw){ + roll = att[0]; + pitch = att[1]; + yaw = att[2]; + } +}; \ No newline at end of file