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feat: added WT901 with I2C for hardware 0.10.x
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| 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); | ||
| } |
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| 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 |
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