cp_cv_ws/imu_enc/include/JY901.h

#ifndef JY901_h
#define JY901_h
#include "string.h"
#include <iostream>
#include <math.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, lastAcc;
	struct SGyro 		stcGyro, lastGyro;
	struct SAngle 		stcAngle, lastAngle;
	struct SMag 		stcMag;
	struct SDStatus 	stcDStatus;
	struct SPress 		stcPress;
	struct SLonLat 		stcLonLat;
	struct SGPSV 		stcGPSV;
	

    CJY901 (); 
    bool CopeSerialData(char ucData[], int& start, int& end,unsigned short usLength);

private:
	bool checkData();
private:
	double accInitLimit, gyroInitLimit, angleInitLimit;
	double accDiffLimit, gyroDiffLimit, angleDiffLimit;
};
#endif