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Arduino UNOR3/JY901/JY901.cpp

@@ -1,121 +0,0 @@
-#include "JY901.h"
-#include "string.h"
-
-CJY901 ::CJY901 ()
-{
-	ucDevAddr =0x50;
-}
-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;
-		}
-		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);
-}
-CJY901 JY901 = CJY901();

Arduino UNOR3/JY901/JY901.h

@@ -1,166 +0,0 @@
-#ifndef JY901_h
-#define JY901_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;
-};
-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;
-	
-    CJY901 (); 
-	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: 
-	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

Arduino UNOR3/JY901/examples/JY901IIC/JY901IIC.ino

@@ -1,52 +0,0 @@
-#include <Wire.h>
-#include <JY901.h>
-/*
-Test on Uno R3.
-JY901    UnoR3
-SDA <---> SDA
-SCL <---> SCL
-*/
-void setup() 
-{
-  Serial.begin(9600);
-  JY901.StartIIC();
-} 
-
-void loop() 
-{
-  //print received data. Data was received in serialEvent;
-  JY901.GetTime();
-  Serial.print("Time:20");Serial.print(JY901.stcTime.ucYear);Serial.print("-");Serial.print(JY901.stcTime.ucMonth);Serial.print("-");Serial.print(JY901.stcTime.ucDay);
-  Serial.print(" ");Serial.print(JY901.stcTime.ucHour);Serial.print(":");Serial.print(JY901.stcTime.ucMinute);Serial.print(":");Serial.println((float)JY901.stcTime.ucSecond+(float)JY901.stcTime.usMiliSecond/1000);
-            
-  JY901.GetAcc();
-  Serial.print("Acc:");Serial.print((float)JY901.stcAcc.a[0]/32768*16);Serial.print(" ");Serial.print((float)JY901.stcAcc.a[1]/32768*16);Serial.print(" ");Serial.println((float)JY901.stcAcc.a[2]/32768*16);
-  
-  JY901.GetGyro();  
-  Serial.print("Gyro:");Serial.print((float)JY901.stcGyro.w[0]/32768*2000);Serial.print(" ");Serial.print((float)JY901.stcGyro.w[1]/32768*2000);Serial.print(" ");Serial.println((float)JY901.stcGyro.w[2]/32768*2000);
-  
-  JY901.GetAngle();
-  Serial.print("Angle:");Serial.print((float)JY901.stcAngle.Angle[0]/32768*180);Serial.print(" ");Serial.print((float)JY901.stcAngle.Angle[1]/32768*180);Serial.print(" ");Serial.println((float)JY901.stcAngle.Angle[2]/32768*180);
-  
-  JY901.GetMag();
-  Serial.print("Mag:");Serial.print(JY901.stcMag.h[0]);Serial.print(" ");Serial.print(JY901.stcMag.h[1]);Serial.print(" ");Serial.println(JY901.stcMag.h[2]);
-  
-JY901.GetPress();
-  Serial.print("Pressure:");Serial.print(JY901.stcPress.lPressure);Serial.print(" ");Serial.println((float)JY901.stcPress.lAltitude/100);
-  
-JY901.GetDStatus();
-  Serial.print("DStatus:");Serial.print(JY901.stcDStatus.sDStatus[0]);Serial.print(" ");Serial.print(JY901.stcDStatus.sDStatus[1]);Serial.print(" ");Serial.print(JY901.stcDStatus.sDStatus[2]);Serial.print(" ");Serial.println(JY901.stcDStatus.sDStatus[3]);
-  
-JY901.GetLonLat();
-  Serial.print("Longitude:");Serial.print(JY901.stcLonLat.lLon/10000000);Serial.print("Deg");Serial.print((double)(JY901.stcLonLat.lLon % 10000000)/1e5);Serial.print("m Lattitude:");
-  Serial.print(JY901.stcLonLat.lLat/10000000);Serial.print("Deg");Serial.print((double)(JY901.stcLonLat.lLat % 10000000)/1e5);Serial.println("m");
-  
-JY901.GetGPSV();
-  Serial.print("GPSHeight:");Serial.print((float)JY901.stcGPSV.sGPSHeight/10);Serial.print("m GPSYaw:");Serial.print((float)JY901.stcGPSV.sGPSYaw/10);Serial.print("Deg GPSV:");Serial.print((float)JY901.stcGPSV.lGPSVelocity/1000);Serial.println("km/h");
-  
-  Serial.println("");
-  delay(500);
-}
-
-
-

Arduino UNOR3/JY901/examples/JY901Serial/JY901Serial.ino

@@ -1,54 +0,0 @@
-#include <Wire.h>
-#include <JY901.h>
-/*
-Test on Uno R3.
-JY901   UnoR3
-TX <---> 0(Rx)
-*/
-void setup() 
-{
-  Serial.begin(9600);
-}
-
-void loop() 
-{
-  //print received data. Data was received in serialEvent;
-  Serial.print("Time:20");Serial.print(JY901.stcTime.ucYear);Serial.print("-");Serial.print(JY901.stcTime.ucMonth);Serial.print("-");Serial.print(JY901.stcTime.ucDay);
-  Serial.print(" ");Serial.print(JY901.stcTime.ucHour);Serial.print(":");Serial.print(JY901.stcTime.ucMinute);Serial.print(":");Serial.println((float)JY901.stcTime.ucSecond+(float)JY901.stcTime.usMiliSecond/1000);
-               
-  Serial.print("Acc:");Serial.print((float)JY901.stcAcc.a[0]/32768*16);Serial.print(" ");Serial.print((float)JY901.stcAcc.a[1]/32768*16);Serial.print(" ");Serial.println((float)JY901.stcAcc.a[2]/32768*16);
-  
-  Serial.print("Gyro:");Serial.print((float)JY901.stcGyro.w[0]/32768*2000);Serial.print(" ");Serial.print((float)JY901.stcGyro.w[1]/32768*2000);Serial.print(" ");Serial.println((float)JY901.stcGyro.w[2]/32768*2000);
-  
-  Serial.print("Angle:");Serial.print((float)JY901.stcAngle.Angle[0]/32768*180);Serial.print(" ");Serial.print((float)JY901.stcAngle.Angle[1]/32768*180);Serial.print(" ");Serial.println((float)JY901.stcAngle.Angle[2]/32768*180);
-  
-  Serial.print("Mag:");Serial.print(JY901.stcMag.h[0]);Serial.print(" ");Serial.print(JY901.stcMag.h[1]);Serial.print(" ");Serial.println(JY901.stcMag.h[2]);
-  
-  Serial.print("Pressure:");Serial.print(JY901.stcPress.lPressure);Serial.print(" ");Serial.println((float)JY901.stcPress.lAltitude/100);
-  
-  Serial.print("DStatus:");Serial.print(JY901.stcDStatus.sDStatus[0]);Serial.print(" ");Serial.print(JY901.stcDStatus.sDStatus[1]);Serial.print(" ");Serial.print(JY901.stcDStatus.sDStatus[2]);Serial.print(" ");Serial.println(JY901.stcDStatus.sDStatus[3]);
-  
-  Serial.print("Longitude:");Serial.print(JY901.stcLonLat.lLon/10000000);Serial.print("Deg");Serial.print((double)(JY901.stcLonLat.lLon % 10000000)/1e5);Serial.print("m Lattitude:");
-  Serial.print(JY901.stcLonLat.lLat/10000000);Serial.print("Deg");Serial.print((double)(JY901.stcLonLat.lLat % 10000000)/1e5);Serial.println("m");
-  
-  Serial.print("GPSHeight:");Serial.print((float)JY901.stcGPSV.sGPSHeight/10);Serial.print("m GPSYaw:");Serial.print((float)JY901.stcGPSV.sGPSYaw/10);Serial.print("Deg GPSV:");Serial.print((float)JY901.stcGPSV.lGPSVelocity/1000);Serial.println("km/h");
-  
-  Serial.println("");
-  delay(500);
-}
-
-/*
-  SerialEvent occurs whenever a new data comes in the
- hardware serial RX.  This routine is run between each
- time loop() runs, so using delay inside loop can delay
- response.  Multiple bytes of data may be available.
- */
-void serialEvent() 
-{
-  while (Serial.available()) 
-  {
-    JY901.CopeSerialData(Serial.read()); //Call JY901 data cope function
-  }
-}
-
-

Arduino UNOR3/JY901/keywords.txt

@@ -1,124 +0,0 @@
-JY901	KEYWORD1
-CopeSerialData	KEYWORD2
-StartIIC	KEYWORD2
-CopeSerialData	KEYWORD2
-ReadWord	KEYWORD2
-WriteWord	KEYWORD2
-ReadData	KEYWORD2
-GetTime		KEYWORD2
-GetAcc		KEYWORD2
-GetGyro		KEYWORD2
-GetAngle	KEYWORD2
-GetMag		KEYWORD2
-GetPress	KEYWORD2
-GetDStatus	KEYWORD2
-GetLonLat	KEYWORD2
-GetGPSV		KEYWORD2
-stcTime	LITERAL1
-ucYear	LITERAL1
-ucMonth	LITERAL1
-ucDay	LITERAL1
-ucHour	LITERAL1
-ucMinute	LITERAL1
-ucSecond	LITERAL1
-usMiliSecond	LITERAL1
-
-stcAcc	LITERAL1
-a	LITERAL1
-T	LITERAL1
-
-stcGyro	LITERAL1
-w	LITERAL1
-
-stcAngle	LITERAL1
-Angle	LITERAL1
-
-stcMag	LITERAL1
-h	LITERAL1
-
-stcDStatus	LITERAL1
-sDStatus	LITERAL1
-
-stcPress	LITERAL1
-lPressure	LITERAL1
-lAltitude	LITERAL1
-
-stcLonLat	LITERAL1
-lLon	LITERAL1
-lLat	LITERAL1
-
-stcGPSV	LITERAL1
-sGPSHeight	LITERAL1
-sGPSYaw	LITERAL1
-lGPSVelocity	LITERAL1
-
-SAVE	LITERAL1
-CALSW	LITERAL1
-RSW	LITERAL1
-RRATE	LITERAL1
-BAUD	LITERAL1
-AXOFFSET	LITERAL1
-AYOFFSET	LITERAL1
-AZOFFSET	LITERAL1
-GXOFFSET	LITERAL1
-GYOFFSET	LITERAL1
-GZOFFSET	LITERAL1
-HXOFFSET	LITERAL1
-HYOFFSET	LITERAL1
-HZOFFSET	LITERAL1
-D0MODE	LITERAL1
-D1MODE	LITERAL1
-D2MODE	LITERAL1
-D3MODE	LITERAL1
-D0PWMH	LITERAL1
-D1PWMH	LITERAL1
-D2PWMH	LITERAL1
-D3PWMH	LITERAL1
-D0PWMT	LITERAL1
-D1PWMT	LITERAL1
-D2PWMT	LITERAL1
-D3PWMT	LITERAL1
-IICADDR	LITERAL1
-LEDOFF	LITERAL1
-GPSBAUD	LITERAL1
-
-YYMM	LITERAL1
-DDHH	LITERAL1
-MMSS	LITERAL1
-MS	LITERAL1
-AX	LITERAL1
-AY	LITERAL1
-AZ	LITERAL1
-GX	LITERAL1
-GY	LITERAL1
-GZ	LITERAL1
-HX	LITERAL1
-HY	LITERAL1
-HZ	LITERAL1
-Roll	LITERAL1
-Pitch	LITERAL1
-Yaw	LITERAL1
-TEMP	LITERAL1
-D0Status	LITERAL1
-D1Status	LITERAL1
-D2Status	LITERAL1
-D3Status	LITERAL1
-PressureL	LITERAL1
-PressureH	LITERAL1
-HeightL	LITERAL1
-HeightH	LITERAL1
-LonL	LITERAL1
-LonH	LITERAL1
-LatL	LITERAL1
-LatH	LITERAL1
-GPSHeight	LITERAL1
-GPSYAW	LITERAL1
-GPSVL	LITERAL1
-GPSVH	LITERAL1
-
-DIO_MODE_AIN	LITERAL1
-DIO_MODE_DIN	LITERAL1
-DIO_MODE_DOH	LITERAL1
-DIO_MODE_DOL	LITERAL1
-DIO_MODE_DOPWM	LITERAL1
-DIO_MODE_GPS	LITERAL1

JY901SerialMega2560/JY901.cpp

@@ -1,123 +0,0 @@
-#include "JY901.h"
-#include "string.h"
-
-CJY901 ::CJY901 ()
-{
-	ucDevAddr =0x50;
-}
-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);
-}
-CJY901 JY901 = CJY901();

JY901SerialMega2560/JY901.h

@@ -1,182 +0,0 @@
-#ifndef JY901_h
-#define JY901_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 (); 
-	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: 
-	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

JY901SerialMega2560/examples/JY901SerialMega2560/JY901Serial/JY901Serial.ino

@@ -1,47 +0,0 @@
-#include <Wire.h>
-#include <JY901.h>
-/*
-Test on mega2560.
-JY901   mega2560
-TX <---> 0(Rx)
-*/
-void setup() 
-{
-  Serial.begin(9600);  
-  Serial1.begin(9600);
-}
-
-void loop() 
-{
-  //print received data. Data was received in serialEvent;
-  Serial.print("Time:20");Serial.print(JY901.stcTime.ucYear);Serial.print("-");Serial.print(JY901.stcTime.ucMonth);Serial.print("-");Serial.print(JY901.stcTime.ucDay);
-  Serial.print(" ");Serial.print(JY901.stcTime.ucHour);Serial.print(":");Serial.print(JY901.stcTime.ucMinute);Serial.print(":");Serial.println((float)JY901.stcTime.ucSecond+(float)JY901.stcTime.usMiliSecond/1000);
-               
-  Serial.print("Acc:");Serial.print((float)JY901.stcAcc.a[0]/32768*16);Serial.print(" ");Serial.print((float)JY901.stcAcc.a[1]/32768*16);Serial.print(" ");Serial.println((float)JY901.stcAcc.a[2]/32768*16);
-  
-  Serial.print("Gyro:");Serial.print((float)JY901.stcGyro.w[0]/32768*2000);Serial.print(" ");Serial.print((float)JY901.stcGyro.w[1]/32768*2000);Serial.print(" ");Serial.println((float)JY901.stcGyro.w[2]/32768*2000);
-  
-  Serial.print("Angle:");Serial.print((float)JY901.stcAngle.Angle[0]/32768*180);Serial.print(" ");Serial.print((float)JY901.stcAngle.Angle[1]/32768*180);Serial.print(" ");Serial.println((float)JY901.stcAngle.Angle[2]/32768*180);
-  
-  Serial.print("Mag:");Serial.print(JY901.stcMag.h[0]);Serial.print(" ");Serial.print(JY901.stcMag.h[1]);Serial.print(" ");Serial.println(JY901.stcMag.h[2]);
-  
-  Serial.print("Pressure:");Serial.print(JY901.stcPress.lPressure);Serial.print(" ");Serial.println((float)JY901.stcPress.lAltitude/100);
-  
-  Serial.print("DStatus:");Serial.print(JY901.stcDStatus.sDStatus[0]);Serial.print(" ");Serial.print(JY901.stcDStatus.sDStatus[1]);Serial.print(" ");Serial.print(JY901.stcDStatus.sDStatus[2]);Serial.print(" ");Serial.println(JY901.stcDStatus.sDStatus[3]);
-  
-  Serial.print("Longitude:");Serial.print(JY901.stcLonLat.lLon/10000000);Serial.print("Deg");Serial.print((double)(JY901.stcLonLat.lLon % 10000000)/1e5);Serial.print("m Lattitude:");
-  Serial.print(JY901.stcLonLat.lLat/10000000);Serial.print("Deg");Serial.print((double)(JY901.stcLonLat.lLat % 10000000)/1e5);Serial.println("m");
-  
-  Serial.print("GPSHeight:");Serial.print((float)JY901.stcGPSV.sGPSHeight/10);Serial.print("m GPSYaw:");Serial.print((float)JY901.stcGPSV.sGPSYaw/10);Serial.print("Deg GPSV:");Serial.print((float)JY901.stcGPSV.lGPSVelocity/1000);Serial.println("km/h");
-  
-  Serial.print("SN:");Serial.print(JY901.stcSN.sSVNum);Serial.print(" PDOP:");Serial.print((float)JY901.stcSN.sPDOP/100);Serial.print(" HDOP:");Serial.print((float)JY901.stcSN.sHDOP/100);Serial.print(" VDOP:");Serial.println((float)JY901.stcSN.sVDOP/100);
-  
-  Serial.println("");
-  delay(500);
-
-  while (Serial1.available()) 
-  {
-    JY901.CopeSerialData(Serial1.read()); //Call JY901 data cope function
-  }
-
-}

JY901SerialMega2560/keywords.txt

@@ -1,130 +0,0 @@
-JY901	KEYWORD1
-CopeSerialData	KEYWORD2
-StartIIC	KEYWORD2
-CopeSerialData	KEYWORD2
-ReadWord	KEYWORD2
-WriteWord	KEYWORD2
-ReadData	KEYWORD2
-GetTime		KEYWORD2
-GetAcc		KEYWORD2
-GetGyro		KEYWORD2
-GetAngle	KEYWORD2
-GetMag		KEYWORD2
-GetPress	KEYWORD2
-GetDStatus	KEYWORD2
-GetLonLat	KEYWORD2
-GetGPSV		KEYWORD2
-stcTime	LITERAL1
-ucYear	LITERAL1
-ucMonth	LITERAL1
-ucDay	LITERAL1
-ucHour	LITERAL1
-ucMinute	LITERAL1
-ucSecond	LITERAL1
-usMiliSecond	LITERAL1
-
-stcAcc	LITERAL1
-a	LITERAL1
-T	LITERAL1
-
-stcGyro	LITERAL1
-w	LITERAL1
-
-stcAngle	LITERAL1
-Angle	LITERAL1
-
-stcMag	LITERAL1
-h	LITERAL1
-
-stcDStatus	LITERAL1
-sDStatus	LITERAL1
-
-stcPress	LITERAL1
-lPressure	LITERAL1
-lAltitude	LITERAL1
-
-stcLonLat	LITERAL1
-lLon	LITERAL1
-lLat	LITERAL1
-
-stcGPSV	LITERAL1
-sGPSHeight	LITERAL1
-sGPSYaw	LITERAL1
-lGPSVelocity	LITERAL1
-
-stcSN	LITERAL1
-sSVNum	LITERAL1
-sPDOP	LITERAL1
-sHDOP	LITERAL1
-sVDOP	LITERAL1
-
-SAVE	LITERAL1
-CALSW	LITERAL1
-RSW	LITERAL1
-RRATE	LITERAL1
-BAUD	LITERAL1
-AXOFFSET	LITERAL1
-AYOFFSET	LITERAL1
-AZOFFSET	LITERAL1
-GXOFFSET	LITERAL1
-GYOFFSET	LITERAL1
-GZOFFSET	LITERAL1
-HXOFFSET	LITERAL1
-HYOFFSET	LITERAL1
-HZOFFSET	LITERAL1
-D0MODE	LITERAL1
-D1MODE	LITERAL1
-D2MODE	LITERAL1
-D3MODE	LITERAL1
-D0PWMH	LITERAL1
-D1PWMH	LITERAL1
-D2PWMH	LITERAL1
-D3PWMH	LITERAL1
-D0PWMT	LITERAL1
-D1PWMT	LITERAL1
-D2PWMT	LITERAL1
-D3PWMT	LITERAL1
-IICADDR	LITERAL1
-LEDOFF	LITERAL1
-GPSBAUD	LITERAL1
-
-YYMM	LITERAL1
-DDHH	LITERAL1
-MMSS	LITERAL1
-MS	LITERAL1
-AX	LITERAL1
-AY	LITERAL1
-AZ	LITERAL1
-GX	LITERAL1
-GY	LITERAL1
-GZ	LITERAL1
-HX	LITERAL1
-HY	LITERAL1
-HZ	LITERAL1
-Roll	LITERAL1
-Pitch	LITERAL1
-Yaw	LITERAL1
-TEMP	LITERAL1
-D0Status	LITERAL1
-D1Status	LITERAL1
-D2Status	LITERAL1
-D3Status	LITERAL1
-PressureL	LITERAL1
-PressureH	LITERAL1
-HeightL	LITERAL1
-HeightH	LITERAL1
-LonL	LITERAL1
-LonH	LITERAL1
-LatL	LITERAL1
-LatH	LITERAL1
-GPSHeight	LITERAL1
-GPSYAW	LITERAL1
-GPSVL	LITERAL1
-GPSVH	LITERAL1
-
-DIO_MODE_AIN	LITERAL1
-DIO_MODE_DIN	LITERAL1
-DIO_MODE_DOH	LITERAL1
-DIO_MODE_DOL	LITERAL1
-DIO_MODE_DOPWM	LITERAL1
-DIO_MODE_GPS	LITERAL1

Matlab串口实时读取/JYReceive.m

@@ -0,0 +1,52 @@
+clear all;
+close all;
+instrreset;
+disp('Press Ctrl+C to stop collecting data!')
+s=serial('com19','baudrate',115200) ;fopen(s) ;%Open Com Port   请将COM19换成电脑识别到的COM口，波特率115000换成传感器对应的波特率
+f = 20;%DataFrequce
+t=0;
+cnt = 1;
+aa=[0 0 0];
+ww=[0 0 0];
+AA = [0 0 0];
+tt = 0;
+a=[0 0 0]';
+w=[0 0 0]';
+A=[0 0 0]';
+while(1)
+    Head = fread(s,2,'uint8');
+    if (Head(1)~=uint8(85))
+        continue;
+    end   
+    Head(2)
+    switch(Head(2))
+        case 81 
+            a = fread(s,3,'int16')/32768*16 ;
+        case 82 
+            w = fread(s,3,'int16')/32768*2000 ;   
+        case 83 
+            A = fread(s,3,'int16')/32768*180;
+            aa=[aa;a'];
+            ww = [ww;w'];
+            AA = [AA;A'];
+            tt = [tt;t];
+            if (cnt>(f/5)) %Plot in low frequce, 
+                subplot(3,1,1);plot(tt,aa);title(['Acceleration = ' num2str(a') 'm2/s']);ylabel('m2/s');
+                subplot(3,1,2);plot(tt,ww);title(['Gyro = ' num2str(w') '°/s']);ylabel('°/s');
+                subplot(3,1,3);plot(tt,AA);title(['Angle = ' num2str(A') '°']);ylabel('°');              
+                cnt=0;
+                drawnow;
+                if (size(aa,1)>5*f)%clear history data
+                    aa = aa(f:5*f,:);
+                    ww = ww(f:5*f,:);
+                    AA = AA(f:5*f,:);
+                    tt = tt(f:5*f,:);
+                end
+            end
+            cnt=cnt+1;
+            t=t+0.01;
+    end 
+        
+            End = fread(s,3,'uint8');
+end
+fclose(s);

Matlab导入记录文件/Data200320042405.tsv

@@ -0,0 +1,1007 @@
+StartTime: 2020-03-20 16:20:22.093
+Time(s)	ax(g)	ay(g)	az(g)	wx(deg/s)	wy(deg/s)	wz(deg/s)	AngleX(deg)	AngleY(deg)	AngleZ(deg)	T(°)	hx	hy	hz 
+223.925	-1.2285	1.3833	0.2910	6.7139	-4.1504	-11.8408	76.7944	40.5176	-95.9491	39.1600	-25	-291	127 
+223.935	-1.2285	1.3833	0.2910	6.7139	-4.1504	-11.8408	76.8054	40.5725	-96.1084	39.1800	-25	-291	126 
+223.935	-1.2285	1.3833	0.2910	6.7139	-4.1504	-11.8408	76.8109	40.6219	-96.2622	39.1800	-26	-291	126 
+223.945	-1.2285	1.3833	0.2910	6.7139	-4.1504	-11.8408	76.8219	40.6769	-96.4215	39.1600	-25	-291	126 
+223.945	-1.2285	1.3833	0.2910	6.7139	-4.1504	-11.8408	76.8274	40.7318	-96.5753	39.1600	-25	-291	125 
+223.955	-1.2285	1.3833	0.2910	6.7139	-4.1504	-11.8408	76.8384	40.7813	-96.7291	39.1700	-26	-290	125 
+223.955	-1.2285	1.3833	0.2910	6.7139	-4.1504	-11.8408	76.8439	40.8362	-96.8829	39.1700	-27	-290	125 
+223.955	-1.2534	1.3599	0.3472	-3.7842	-16.6016	-14.7095	76.7395	40.8911	-97.1246	39.1500	-27	-290	125 
+223.967	-1.2534	1.3599	0.3472	-3.7842	-16.6016	-14.7095	76.6351	40.9460	-97.3663	39.1500	-27	-290	124 
+223.967	-1.2534	1.3599	0.3472	-3.7842	-16.6016	-14.7095	76.5308	41.0010	-97.6080	39.1800	-26	-291	123 
+223.977	-1.2534	1.3599	0.3472	-3.7842	-16.6016	-14.7095	76.4264	41.0559	-97.8497	39.1800	-25	-291	123 
+223.977	-1.2534	1.3599	0.3472	-3.7842	-16.6016	-14.7095	76.3220	41.1108	-98.0914	39.1400	-27	-291	123 
+223.987	-1.2534	1.3599	0.3472	-3.7842	-16.6016	-14.7095	76.2122	41.1658	-98.3276	39.1400	-28	-292	122 
+223.987	-1.2534	1.3599	0.3472	-3.7842	-16.6016	-14.7095	76.1078	41.2152	-98.5693	39.1400	-28	-291	122 
+223.997	-1.2534	1.3599	0.3472	-3.7842	-16.6016	-14.7095	76.0034	41.2701	-98.8055	39.1100	-28	-291	122 
+223.997	-1.2754	1.3325	0.3843	-14.2822	-24.9634	-13.9160	75.8057	41.3141	-99.0967	39.1100	-28	-291	123 
+223.997	-1.2754	1.3325	0.3843	-14.2822	-24.9634	-13.9160	75.6134	41.3525	-99.3933	39.1300	-27	-291	124 
+224.007	-1.2754	1.3325	0.3843	-14.2822	-24.9634	-13.9160	75.4156	41.3965	-99.6844	39.1300	-27	-291	124 
+224.007	-1.2754	1.3325	0.3843	-14.2822	-24.9634	-13.9160	75.2179	41.4349	-99.9811	39.1800	-27	-292	124 
+224.017	-1.2754	1.3325	0.3843	-14.2822	-24.9634	-13.9160	75.0256	41.4734	-100.2722	39.1800	-27	-292	124 
+224.017	-1.2754	1.3325	0.3843	-14.2822	-24.9634	-13.9160	74.8279	41.5118	-100.5634	39.1900	-27	-293	125 
+224.027	-1.2754	1.3325	0.3843	-14.2822	-24.9634	-13.9160	74.6356	41.5503	-100.8545	39.1900	-26	-292	124 
+224.027	-1.2754	1.3325	0.3843	-14.2822	-24.9634	-13.9160	74.4379	41.5887	-101.1456	39.1400	-25	-291	123 
+224.042	-1.2896	1.3062	0.4194	-21.7285	-26.6113	-10.3149	74.2017	41.6052	-101.4423	39.1400	-26	-291	123 
+224.042	-1.2896	1.3062	0.4194	-21.7285	-26.6113	-10.3149	73.9655	41.6272	-101.7389	39.1400	-27	-291	122 
+224.042	-1.2896	1.3062	0.4194	-21.7285	-26.6113	-10.3149	73.7238	41.6437	-102.0355	39.1000	-26	-290	121 
+224.052	-1.2896	1.3062	0.4194	-21.7285	-26.6113	-10.3149	73.4875	41.6602	-102.3322	39.1000	-25	-290	121 
+224.052	-1.2896	1.3062	0.4194	-21.7285	-26.6113	-10.3149	73.2513	41.6766	-102.6288	39.1800	-25	-289	121 
+224.062	-1.2896	1.3062	0.4194	-21.7285	-26.6113	-10.3149	73.0151	41.6931	-102.9199	39.1800	-25	-289	121 
+224.062	-1.2896	1.3062	0.4194	-21.7285	-26.6113	-10.3149	72.7789	41.7096	-103.2111	39.1500	-25	-289	121 
+224.072	-1.2896	1.3062	0.4194	-21.7285	-26.6113	-10.3149	72.5482	41.7206	-103.5077	39.1500	-25	-288	120 
+224.072	-1.3076	1.2979	0.4453	-24.8413	-21.7285	-5.8594	72.3230	41.7261	-103.7604	39.1600	-25	-288	120 
+224.072	-1.3076	1.2979	0.4453	-24.8413	-21.7285	-5.8594	72.0978	41.7261	-104.0131	39.1600	-25	-289	120 
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+224.082	-1.3076	1.2979	0.4453	-24.8413	-21.7285	-5.8594	71.6473	41.7261	-104.5129	39.2000	-26	-290	118 
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Matlab导入记录文件/DataPlot.m

@@ -0,0 +1,9 @@
+
+newData = importdata('Data200320042405.tsv', '\t', 2);  %请先将文件拷贝到此文件目录，并将Data200320042405.tsv替换成记录保存的文件名
+data=newData.data;
+
+subplot(2,2,1);plot(data(:,1),data(:,2:4));grid on;xlabel('时间/s');ylabel('加速度/g');title('加速度曲线');
+subplot(2,2,2);plot(data(:,1),data(:,5:7));grid on;xlabel('时间/s');ylabel('角速度/°/s');title('角速度曲线');
+subplot(2,2,3);plot(data(:,1),data(:,8:10));grid on;xlabel('时间/s');ylabel('角度/°');title('角度曲线');
+subplot(2,2,4);plot(data(:,1),data(:,11));grid on;xlabel('时间/s');ylabel('温度/°');title('温度曲线');
+