• ESP32 串口读取 jy901s 姿态传感器

    开发平台为 VSCode 和 platformIO，C语言。用到了串口0和串口2

    需要用到一个STM32官方例程中的一个库，我也贴上来了，直接复制本文代码即可用。

     1. JY901.h

    1. // JY901.h
    2. #ifndef JY901_h
    3. #define JY901_h
    4.  
    5. #define SAVE 			0x00
    6. #define CALSW 		0x01
    7. #define RSW 			0x02
    8. #define RRATE			0x03
    9. #define BAUD 			0x04
    10. #define AXOFFSET	0x05
    11. #define AYOFFSET	0x06
    12. #define AZOFFSET	0x07
    13. #define GXOFFSET	0x08
    14. #define GYOFFSET	0x09
    15. #define GZOFFSET	0x0a
    16. #define HXOFFSET	0x0b
    17. #define HYOFFSET	0x0c
    18. #define HZOFFSET	0x0d
    19. #define D0MODE		0x0e
    20. #define D1MODE		0x0f
    21. #define D2MODE		0x10
    22. #define D3MODE		0x11
    23. #define D0PWMH		0x12
    24. #define D1PWMH		0x13
    25. #define D2PWMH		0x14
    26. #define D3PWMH		0x15
    27. #define D0PWMT		0x16
    28. #define D1PWMT		0x17
    29. #define D2PWMT		0x18
    30. #define D3PWMT		0x19
    31. #define IICADDR		0x1a
    32. #define LEDOFF 		0x1b
    33. #define GPSBAUD		0x1c
    34.  
    35. #define YYMM				0x30
    36. #define DDHH				0x31
    37. #define MMSS				0x32
    38. #define MS					0x33
    39. #define AX					0x34
    40. #define AY					0x35
    41. #define AZ					0x36
    42. #define GX					0x37
    43. #define GY					0x38
    44. #define GZ					0x39
    45. #define HX					0x3a
    46. #define HY					0x3b
    47. #define HZ					0x3c			
    48. #define Roll				0x3d
    49. #define Pitch				0x3e
    50. #define Yaw					0x3f
    51. #define TEMP				0x40
    52. #define D0Status		0x41
    53. #define D1Status		0x42
    54. #define D2Status		0x43
    55. #define D3Status		0x44
    56. #define PressureL		0x45
    57. #define PressureH		0x46
    58. #define HeightL			0x47
    59. #define HeightH			0x48
    60. #define LonL				0x49
    61. #define LonH				0x4a
    62. #define LatL				0x4b
    63. #define LatH				0x4c
    64. #define GPSHeight   0x4d
    65. #define GPSYAW      0x4e
    66. #define GPSVL				0x4f
    67. #define GPSVH				0x50
    68.       
    69. #define DIO_MODE_AIN 0
    70. #define DIO_MODE_DIN 1
    71. #define DIO_MODE_DOH 2
    72. #define DIO_MODE_DOL 3
    73. #define DIO_MODE_DOPWM 4
    74. #define DIO_MODE_GPS 5		
    75.  
    76. struct STime
    77. {
    78. 	unsigned char ucYear;
    79. 	unsigned char ucMonth;
    80. 	unsigned char ucDay;
    81. 	unsigned char ucHour;
    82. 	unsigned char ucMinute;
    83. 	unsigned char ucSecond;
    84. 	unsigned short usMiliSecond;
    85. };
    86. struct SAcc
    87. {
    88. 	short a[3];
    89. 	short T;
    90. };
    91. struct SGyro
    92. {
    93. 	short w[3];
    94. 	short T;
    95. };
    96. struct SAngle
    97. {
    98. 	short Angle[3];
    99. 	short T;
    100. };
    101. struct SMag
    102. {
    103. 	short h[3];
    104. 	short T;
    105. };
    106.  
    107. struct SDStatus
    108. {
    109. 	short sDStatus[4];
    110. };
    111.  
    112. struct SPress
    113. {
    114. 	long lPressure;
    115. 	long lAltitude;
    116. };
    117.  
    118. struct SLonLat
    119. {
    120. 	long lLon;
    121. 	long lLat;
    122. };
    123.  
    124. struct SGPSV
    125. {
    126. 	short sGPSHeight;
    127. 	short sGPSYaw;
    128. 	long lGPSVelocity;
    129. };
    130. struct SQuater
    131. {
    132. 	short q0;
    133. 	short q1;
    134. 	short q2;
    135. 	short q3;
    136. };
    137. struct SSN
    138. {
    139. 	short sSVNum;
    140. 	short sPDOP;
    141. 	short sHDOP;
    142. 	short sVDOP;
    143. };
    144. class CJY901 
    145. {
    146.   public: 
    147. 	struct STime		stcTime;
    148. 	struct SAcc 		stcAcc;
    149. 	struct SGyro 		stcGyro;
    150. 	struct SAngle 		stcAngle;
    151. 	struct SMag 		stcMag;
    152. 	struct SDStatus 	stcDStatus;
    153. 	struct SPress 		stcPress;
    154. 	struct SLonLat 		stcLonLat;
    155. 	struct SGPSV 		stcGPSV;
    156. 	struct SQuater		stcQuater;
    157. 	struct SSN 		stcSN;
    158. 	
    159.     CJY901 (); 
    160. 	void StartIIC();
    161. 	void StartIIC(unsigned char ucAddr);
    162.     void CopeSerialData(unsigned char ucData);
    163. 	short ReadWord(unsigned char ucAddr);
    164. 	void WriteWord(unsigned char ucAddr,short sData);
    165. 	void ReadData(unsigned char ucAddr,unsigned char ucLength,char chrData[]);
    166. 	void GetTime();
    167. 	void GetAcc();
    168. 	void GetGyro();
    169. 	void GetAngle();
    170. 	void GetMag();
    171. 	void GetPress();
    172. 	void GetDStatus();
    173. 	void GetLonLat();
    174. 	void GetGPSV();
    175. 	
    176.   private: 
    177. 	unsigned char ucDevAddr; 
    178. 	void readRegisters(unsigned char deviceAddr,unsigned char addressToRead, unsigned char bytesToRead, char * dest);
    179. 	void writeRegister(unsigned char deviceAddr,unsigned char addressToWrite,unsigned char bytesToRead, char *dataToWrite);
    180. };
    181. extern CJY901 JY901;
    182. #include 
    183. #endif

    2. JY901.cpp

    1. // JY901.cpp
    2. #include "JY901.h"
    3. #include "string.h"
    4.  
    5. CJY901 ::CJY901 ()
    6. {
    7. 	ucDevAddr =0x50;
    8. }
    9. void CJY901::StartIIC()
    10. {
    11. 	ucDevAddr = 0x50;
    12. 	Wire.begin();
    13. }
    14. void CJY901::StartIIC(unsigned char ucAddr)
    15. {
    16. 	ucDevAddr = ucAddr;
    17. 	Wire.begin();
    18. }
    19. void CJY901 ::CopeSerialData(unsigned char ucData)
    20. {
    21. 	static unsigned char ucRxBuffer[250];
    22. 	static unsigned char ucRxCnt = 0;	
    23. 	
    24. 	ucRxBuffer[ucRxCnt++]=ucData;
    25. 	if (ucRxBuffer[0]!=0x55) 
    26. 	{
    27. 		ucRxCnt=0;
    28. 		return;
    29. 	}
    30. 	if (ucRxCnt<11) {return;}
    31. 	else
    32. 	{
    33. 		switch(ucRxBuffer[1])
    34. 		{
    35. 			case 0x50:	memcpy(&stcTime,&ucRxBuffer[2],8);break;
    36. 			case 0x51:	memcpy(&stcAcc,&ucRxBuffer[2],8);break;
    37. 			case 0x52:	memcpy(&stcGyro,&ucRxBuffer[2],8);break;
    38. 			case 0x53:	memcpy(&stcAngle,&ucRxBuffer[2],8);break;
    39. 			case 0x54:	memcpy(&stcMag,&ucRxBuffer[2],8);break;
    40. 			case 0x55:	memcpy(&stcDStatus,&ucRxBuffer[2],8);break;
    41. 			case 0x56:	memcpy(&stcPress,&ucRxBuffer[2],8);break;
    42. 			case 0x57:	memcpy(&stcLonLat,&ucRxBuffer[2],8);break;
    43. 			case 0x58:	memcpy(&stcGPSV,&ucRxBuffer[2],8);break;
    44. 			case 0x59:	memcpy(&stcQuater,&ucRxBuffer[2],8);break;
    45. 			case 0x5a:	memcpy(&stcSN,&ucRxBuffer[2],8);break;
    46. 		}
    47. 		ucRxCnt=0;
    48. 	}
    49. }
    50. void CJY901::readRegisters(unsigned char deviceAddr,unsigned char addressToRead, unsigned char bytesToRead, char * dest)
    51. {
    52.   Wire.beginTransmission(deviceAddr);
    53.   Wire.write(addressToRead);
    54.   Wire.endTransmission(false); //endTransmission but keep the connection active
    55.  
    56.   Wire.requestFrom(deviceAddr, bytesToRead); //Ask for bytes, once done, bus is released by default
    57.  
    58.   while(Wire.available() < bytesToRead); //Hang out until we get the # of bytes we expect
    59.  
    60.   for(int x = 0 ; x < bytesToRead ; x++)
    61.     dest[x] = Wire.read();    
    62. }
    63. void CJY901::writeRegister(unsigned char deviceAddr,unsigned char addressToWrite,unsigned char bytesToRead, char *dataToWrite)
    64. {
    65.   Wire.beginTransmission(deviceAddr);
    66.   Wire.write(addressToWrite);
    67.   for(int i = 0 ; i < bytesToRead ; i++)
    68.   Wire.write(dataToWrite[i]);
    69.   Wire.endTransmission(); //Stop transmitting
    70. }
    71.  
    72. short CJY901::ReadWord(unsigned char ucAddr)
    73. {
    74. 	short sResult;
    75. 	readRegisters(ucDevAddr, ucAddr, 2, (char *)&sResult);
    76. 	return sResult;
    77. }
    78. void CJY901::WriteWord(unsigned char ucAddr,short sData)
    79. {	
    80. 	writeRegister(ucDevAddr, ucAddr, 2, (char *)&sData);
    81. }
    82. void CJY901::ReadData(unsigned char ucAddr,unsigned char ucLength,char chrData[])
    83. {
    84. 	readRegisters(ucDevAddr, ucAddr, ucLength, chrData);
    85. }
    86.  
    87. void CJY901::GetTime()
    88. {
    89. 	readRegisters(ucDevAddr, 0x30, 8, (char*)&stcTime);	
    90. }
    91. void CJY901::GetAcc()
    92. {
    93. 	readRegisters(ucDevAddr, AX, 6, (char *)&stcAcc);
    94. }
    95. void CJY901::GetGyro()
    96. {
    97. 	readRegisters(ucDevAddr, GX, 6, (char *)&stcGyro);
    98. }
    99.  
    100. void CJY901::GetAngle()
    101. {
    102. 	readRegisters(ucDevAddr, Roll, 6, (char *)&stcAngle);
    103. }
    104. void CJY901::GetMag()
    105. {
    106. 	readRegisters(ucDevAddr, HX, 6, (char *)&stcMag);
    107. }
    108. void CJY901::GetPress()
    109. {
    110. 	readRegisters(ucDevAddr, PressureL, 8, (char *)&stcPress);
    111. }
    112. void CJY901::GetDStatus()
    113. {
    114. 	readRegisters(ucDevAddr, D0Status, 8, (char *)&stcDStatus);
    115. }
    116. void CJY901::GetLonLat()
    117. {
    118. 	readRegisters(ucDevAddr, LonL, 8, (char *)&stcLonLat);
    119. }
    120. void CJY901::GetGPSV()
    121. {
    122. 	readRegisters(ucDevAddr, GPSHeight, 8, (char *)&stcGPSV);
    123. }
    124. CJY901 JY901 = CJY901();

    3. main.cpp

    1. // main.cpp
    2. #include 
    3. #include 
    4. #include 
    5. #include 
    6.  
    7. void setup()
    8. {
    9.   Serial.begin(9600);  
    10.   Serial2.begin(9600);
    11. }
    12.  
    13. void loop()
    14. {
    15.   //print received data. Data was received in serialEvent;
    16.   Serial.print("Time:20");
    17.   Serial.print(JY901.stcTime.ucYear);
    18.   Serial.print("-");
    19.   Serial.print(JY901.stcTime.ucMonth);
    20.   Serial.print("-");
    21.   Serial.print(JY901.stcTime.ucDay);
    22.   Serial.print(" ");Serial.print(JY901.stcTime.ucHour);
    23.   Serial.print(":");Serial.print(JY901.stcTime.ucMinute);
    24.   Serial.print(":");
    25.   Serial.println((float)JY901.stcTime.ucSecond+(float)JY901.stcTime.usMiliSecond/1000);
    26.                 
    27.   Serial.print("Acc:");
    28.   Serial.print((float)JY901.stcAcc.a[0]/32768*16);
    29.   Serial.print(" ");
    30.   Serial.print((float)JY901.stcAcc.a[1]/32768*16);
    31.   Serial.print(" ");
    32.   Serial.println((float)JY901.stcAcc.a[2]/32768*16);
    33.    
    34.   Serial.print("Gyro:");
    35.   Serial.print((float)JY901.stcGyro.w[0]/32768*2000);
    36.   Serial.print(" ");
    37.   Serial.print((float)JY901.stcGyro.w[1]/32768*2000);
    38.   Serial.print(" ");
    39.   Serial.println((float)JY901.stcGyro.w[2]/32768*2000);
    40.    
    41.   Serial.print("Angle:");
    42.   Serial.print((float)JY901.stcAngle.Angle[0]/32768*180);
    43.   Serial.print(" ");
    44.   Serial.print((float)JY901.stcAngle.Angle[1]/32768*180);
    45.   Serial.print(" ");
    46.   Serial.println((float)JY901.stcAngle.Angle[2]/32768*180);
    47.  
    48.   Serial.print("Mag:");
    49.   Serial.print(JY901.stcMag.h[0]);
    50.   Serial.print(" ");
    51.   Serial.print(JY901.stcMag.h[1]);
    52.   Serial.print(" ");
    53.   Serial.println(JY901.stcMag.h[2]);
    54.    
    55.   Serial.print("Pressure:");
    56.   Serial.print(JY901.stcPress.lPressure);
    57.   Serial.print(" ");
    58.   Serial.println((float)JY901.stcPress.lAltitude/100);
    59.    
    60.   Serial.print("DStatus:");
    61.   Serial.print(JY901.stcDStatus.sDStatus[0]);
    62.   Serial.print(" ");
    63.   Serial.print(JY901.stcDStatus.sDStatus[1]);
    64.   Serial.print(" ");
    65.   Serial.print(JY901.stcDStatus.sDStatus[2]);
    66.   Serial.print(" ");
    67.   Serial.println(JY901.stcDStatus.sDStatus[3]);
    68.    
    69.   Serial.print("Longitude:");
    70.   Serial.print(JY901.stcLonLat.lLon/10000000);
    71.   Serial.print("Deg");
    72.   Serial.print((double)(JY901.stcLonLat.lLon % 10000000)/1e5);
    73.   Serial.print("m Lattitude:");
    74.   Serial.print(JY901.stcLonLat.lLat/10000000);
    75.   Serial.print("Deg");
    76.   Serial.print((double)(JY901.stcLonLat.lLat % 10000000)/1e5);
    77.   Serial.println("m");
    78.    
    79.   Serial.print("GPSHeight:");
    80.   Serial.print((float)JY901.stcGPSV.sGPSHeight/10);
    81.   Serial.print("m GPSYaw:");
    82.   Serial.print((float)JY901.stcGPSV.sGPSYaw/10);
    83.   Serial.print("Deg GPSV:");
    84.   Serial.print((float)JY901.stcGPSV.lGPSVelocity/1000);
    85.   Serial.println("km/h");
    86.    
    87.   Serial.print("SN:");
    88.   Serial.print(JY901.stcSN.sSVNum);
    89.   Serial.print(" PDOP:");
    90.   Serial.print((float)JY901.stcSN.sPDOP/100);
    91.   Serial.print(" HDOP:");
    92.   Serial.print((float)JY901.stcSN.sHDOP/100);
    93.   Serial.print(" VDOP:");
    94.   Serial.println((float)JY901.stcSN.sVDOP/100);
    95.    
    96.   Serial.println("");
    97.   delay(2000);
    98.  
    99.   while (Serial2.available())
    100.   {
    101.     JY901.CopeSerialData(Serial2.read()); 
    102.   }
    103. }

    有问题请留言~

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  • 原文地址：https://blog.csdn.net/baidu_41750439/article/details/126093926