ESP32获取WT901CTTL/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(" ");