-
-
Notifications
You must be signed in to change notification settings - Fork 284
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
feat: added WT901 with I2C for hardware 0.10.x
- Loading branch information
1 parent
2f65159
commit 2874c6e
Showing
7 changed files
with
431 additions
and
15 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,123 @@ | ||
| #include "JY901.h" | ||
| #include "string.h" | ||
|
|
||
| CJY901 ::CJY901 (HardwareI2C *wire) | ||
| { | ||
| ucDevAddr =0x50; | ||
| this->wire = wire; | ||
| } | ||
| void CJY901::StartIIC() | ||
| { | ||
| ucDevAddr = 0x50; | ||
| wire->begin(); | ||
| } | ||
| void CJY901::StartIIC(unsigned char ucAddr) | ||
| { | ||
| ucDevAddr = ucAddr; | ||
| wire->begin(); | ||
| } | ||
| void CJY901 ::CopeSerialData(unsigned char ucData) | ||
| { | ||
| static unsigned char ucRxBuffer[250]; | ||
| static unsigned char ucRxCnt = 0; | ||
|
|
||
| ucRxBuffer[ucRxCnt++]=ucData; | ||
| if (ucRxBuffer[0]!=0x55) | ||
| { | ||
| ucRxCnt=0; | ||
| return; | ||
| } | ||
| if (ucRxCnt<11) {return;} | ||
| else | ||
| { | ||
| switch(ucRxBuffer[1]) | ||
| { | ||
| case 0x50: memcpy(&stcTime,&ucRxBuffer[2],8);break; | ||
| case 0x51: memcpy(&stcAcc,&ucRxBuffer[2],8);break; | ||
| case 0x52: memcpy(&stcGyro,&ucRxBuffer[2],8);break; | ||
| case 0x53: memcpy(&stcAngle,&ucRxBuffer[2],8);break; | ||
| case 0x54: memcpy(&stcMag,&ucRxBuffer[2],8);break; | ||
| case 0x55: memcpy(&stcDStatus,&ucRxBuffer[2],8);break; | ||
| case 0x56: memcpy(&stcPress,&ucRxBuffer[2],8);break; | ||
| case 0x57: memcpy(&stcLonLat,&ucRxBuffer[2],8);break; | ||
| case 0x58: memcpy(&stcGPSV,&ucRxBuffer[2],8);break; | ||
| case 0x59: memcpy(&stcQuater,&ucRxBuffer[2],8);break; | ||
| case 0x5a: memcpy(&stcSN,&ucRxBuffer[2],8);break; | ||
| } | ||
| ucRxCnt=0; | ||
| } | ||
| } | ||
| void CJY901::readRegisters(unsigned char deviceAddr,unsigned char addressToRead, unsigned char bytesToRead, char * dest) | ||
| { | ||
| wire->beginTransmission(deviceAddr); | ||
| wire->write(addressToRead); | ||
| wire->endTransmission(false); //endTransmission but keep the connection active | ||
|
|
||
| wire->requestFrom(deviceAddr, bytesToRead); //Ask for bytes, once done, bus is released by default | ||
|
|
||
| while(wire->available() < bytesToRead); //Hang out until we get the # of bytes we expect | ||
|
|
||
| for(int x = 0 ; x < bytesToRead ; x++) | ||
| dest[x] = wire->read(); | ||
| } | ||
| void CJY901::writeRegister(unsigned char deviceAddr,unsigned char addressToWrite,unsigned char bytesToRead, char *dataToWrite) | ||
| { | ||
| wire->beginTransmission(deviceAddr); | ||
| wire->write(addressToWrite); | ||
| for(int i = 0 ; i < bytesToRead ; i++) | ||
| wire->write(dataToWrite[i]); | ||
| wire->endTransmission(); //Stop transmitting | ||
| } | ||
|
|
||
| short CJY901::ReadWord(unsigned char ucAddr) | ||
| { | ||
| short sResult; | ||
| readRegisters(ucDevAddr, ucAddr, 2, (char *)&sResult); | ||
| return sResult; | ||
| } | ||
| void CJY901::WriteWord(unsigned char ucAddr,short sData) | ||
| { | ||
| writeRegister(ucDevAddr, ucAddr, 2, (char *)&sData); | ||
| } | ||
| void CJY901::ReadData(unsigned char ucAddr,unsigned char ucLength,char chrData[]) | ||
| { | ||
| readRegisters(ucDevAddr, ucAddr, ucLength, chrData); | ||
| } | ||
|
|
||
| void CJY901::GetTime() | ||
| { | ||
| readRegisters(ucDevAddr, 0x30, 8, (char*)&stcTime); | ||
| } | ||
| void CJY901::GetAcc() | ||
| { | ||
| readRegisters(ucDevAddr, AX, 6, (char *)&stcAcc); | ||
| } | ||
| void CJY901::GetGyro() | ||
| { | ||
| readRegisters(ucDevAddr, GX, 6, (char *)&stcGyro); | ||
| } | ||
|
|
||
| void CJY901::GetAngle() | ||
| { | ||
| readRegisters(ucDevAddr, Roll, 6, (char *)&stcAngle); | ||
| } | ||
| void CJY901::GetMag() | ||
| { | ||
| readRegisters(ucDevAddr, HX, 6, (char *)&stcMag); | ||
| } | ||
| void CJY901::GetPress() | ||
| { | ||
| readRegisters(ucDevAddr, PressureL, 8, (char *)&stcPress); | ||
| } | ||
| void CJY901::GetDStatus() | ||
| { | ||
| readRegisters(ucDevAddr, D0Status, 8, (char *)&stcDStatus); | ||
| } | ||
| void CJY901::GetLonLat() | ||
| { | ||
| readRegisters(ucDevAddr, LonL, 8, (char *)&stcLonLat); | ||
| } | ||
| void CJY901::GetGPSV() | ||
| { | ||
| readRegisters(ucDevAddr, GPSHeight, 8, (char *)&stcGPSV); | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,184 @@ | ||
| #ifndef JY901_h | ||
| #define JY901_h | ||
| #include <Wire.h> | ||
|
|
||
| #define SAVE 0x00 | ||
| #define CALSW 0x01 | ||
| #define RSW 0x02 | ||
| #define RRATE 0x03 | ||
| #define BAUD 0x04 | ||
| #define AXOFFSET 0x05 | ||
| #define AYOFFSET 0x06 | ||
| #define AZOFFSET 0x07 | ||
| #define GXOFFSET 0x08 | ||
| #define GYOFFSET 0x09 | ||
| #define GZOFFSET 0x0a | ||
| #define HXOFFSET 0x0b | ||
| #define HYOFFSET 0x0c | ||
| #define HZOFFSET 0x0d | ||
| #define D0MODE 0x0e | ||
| #define D1MODE 0x0f | ||
| #define D2MODE 0x10 | ||
| #define D3MODE 0x11 | ||
| #define D0PWMH 0x12 | ||
| #define D1PWMH 0x13 | ||
| #define D2PWMH 0x14 | ||
| #define D3PWMH 0x15 | ||
| #define D0PWMT 0x16 | ||
| #define D1PWMT 0x17 | ||
| #define D2PWMT 0x18 | ||
| #define D3PWMT 0x19 | ||
| #define IICADDR 0x1a | ||
| #define LEDOFF 0x1b | ||
| #define GPSBAUD 0x1c | ||
|
|
||
| #define YYMM 0x30 | ||
| #define DDHH 0x31 | ||
| #define MMSS 0x32 | ||
| #define MS 0x33 | ||
| #define AX 0x34 | ||
| #define AY 0x35 | ||
| #define AZ 0x36 | ||
| #define GX 0x37 | ||
| #define GY 0x38 | ||
| #define GZ 0x39 | ||
| #define HX 0x3a | ||
| #define HY 0x3b | ||
| #define HZ 0x3c | ||
| #define Roll 0x3d | ||
| #define Pitch 0x3e | ||
| #define Yaw 0x3f | ||
| #define TEMP 0x40 | ||
| #define D0Status 0x41 | ||
| #define D1Status 0x42 | ||
| #define D2Status 0x43 | ||
| #define D3Status 0x44 | ||
| #define PressureL 0x45 | ||
| #define PressureH 0x46 | ||
| #define HeightL 0x47 | ||
| #define HeightH 0x48 | ||
| #define LonL 0x49 | ||
| #define LonH 0x4a | ||
| #define LatL 0x4b | ||
| #define LatH 0x4c | ||
| #define GPSHeight 0x4d | ||
| #define GPSYAW 0x4e | ||
| #define GPSVL 0x4f | ||
| #define GPSVH 0x50 | ||
|
|
||
| #define DIO_MODE_AIN 0 | ||
| #define DIO_MODE_DIN 1 | ||
| #define DIO_MODE_DOH 2 | ||
| #define DIO_MODE_DOL 3 | ||
| #define DIO_MODE_DOPWM 4 | ||
| #define DIO_MODE_GPS 5 | ||
|
|
||
| struct STime | ||
| { | ||
| unsigned char ucYear; | ||
| unsigned char ucMonth; | ||
| unsigned char ucDay; | ||
| unsigned char ucHour; | ||
| unsigned char ucMinute; | ||
| unsigned char ucSecond; | ||
| unsigned short usMiliSecond; | ||
| }; | ||
| struct SAcc | ||
| { | ||
| short a[3]; | ||
| short T; | ||
| }; | ||
| struct SGyro | ||
| { | ||
| short w[3]; | ||
| short T; | ||
| }; | ||
| struct SAngle | ||
| { | ||
| short Angle[3]; | ||
| short T; | ||
| }; | ||
| struct SMag | ||
| { | ||
| short h[3]; | ||
| short T; | ||
| }; | ||
|
|
||
| struct SDStatus | ||
| { | ||
| short sDStatus[4]; | ||
| }; | ||
|
|
||
| struct SPress | ||
| { | ||
| long lPressure; | ||
| long lAltitude; | ||
| }; | ||
|
|
||
| struct SLonLat | ||
| { | ||
| long lLon; | ||
| long lLat; | ||
| }; | ||
|
|
||
| struct SGPSV | ||
| { | ||
| short sGPSHeight; | ||
| short sGPSYaw; | ||
| long lGPSVelocity; | ||
| }; | ||
| struct SQuater | ||
| { | ||
| short q0; | ||
| short q1; | ||
| short q2; | ||
| short q3; | ||
| }; | ||
| struct SSN | ||
| { | ||
| short sSVNum; | ||
| short sPDOP; | ||
| short sHDOP; | ||
| short sVDOP; | ||
| }; | ||
| class CJY901 | ||
| { | ||
| public: | ||
| struct STime stcTime; | ||
| struct SAcc stcAcc; | ||
| struct SGyro stcGyro; | ||
| struct SAngle stcAngle; | ||
| struct SMag stcMag; | ||
| struct SDStatus stcDStatus; | ||
| struct SPress stcPress; | ||
| struct SLonLat stcLonLat; | ||
| struct SGPSV stcGPSV; | ||
| struct SQuater stcQuater; | ||
| struct SSN stcSN; | ||
|
|
||
| CJY901 (HardwareI2C *wire); | ||
| void StartIIC(); | ||
| void StartIIC(unsigned char ucAddr); | ||
| void CopeSerialData(unsigned char ucData); | ||
| short ReadWord(unsigned char ucAddr); | ||
| void WriteWord(unsigned char ucAddr,short sData); | ||
| void ReadData(unsigned char ucAddr,unsigned char ucLength,char chrData[]); | ||
| void GetTime(); | ||
| void GetAcc(); | ||
| void GetGyro(); | ||
| void GetAngle(); | ||
| void GetMag(); | ||
| void GetPress(); | ||
| void GetDStatus(); | ||
| void GetLonLat(); | ||
| void GetGPSV(); | ||
|
|
||
| private: | ||
| HardwareI2C *wire; | ||
| unsigned char ucDevAddr; | ||
| void readRegisters(unsigned char deviceAddr,unsigned char addressToRead, unsigned char bytesToRead, char * dest); | ||
| void writeRegister(unsigned char deviceAddr,unsigned char addressToWrite,unsigned char bytesToRead, char *dataToWrite); | ||
| }; | ||
| extern CJY901 JY901; | ||
| #include <Wire.h> | ||
| #endif |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.