ESP32获取WT901C-TTL/232四元数
文章《ESP32读取串口传感器数据》介绍了如何获取WT901C-TTL/232串口数据，但官方提供的JY901库没有获取四元数的功能。我修改了一下JY901库：
JY901.h代码：
#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 SQ
{ short q[4];
};
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 SQ stcQ;
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
第129.151行为新增关键代码。
JY901.cpp代码：#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(&stcQ,&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();
第43行为新增关键代码。
实际上这个库代码很冗余，关键位置红色标记。
然后在loop中如下调用：
Serial.print("加速度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("角速度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("角度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("磁场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("四元数:");Serial.print((float)JY901.stcQ.q[0]/32768);Serial.print(" ");Serial.print((float)JY901.stcQ.q[1]/32768);Serial.print(" ");Serial.print((float)JY901.stcQ.q[2]/32768);Serial.print(" ");Serial.print((float)JY901.stcQ.q[3]/32768);Serial.print(" ");
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