买了一个十轴的模块，应该如何使用才能读取数据

woshilaixuexide · 发表于 2019-6-28 09:53:18

复制代码

IIC时序模拟参考了原子的例程，仅作修改引脚，这方面应该没多大问题，就不贴代码了

void ShortToChar(short sData,unsigned char cData[])
{
cData[0]=sData&0xff;
cData[1]=sData>>8;
}
short CharToShort(unsigned char cData[])
{
return ((short)cData[1]<<8)|cData[0];
}
int main(void)
{
unsigned char chrTemp[30];
unsigned char str[100];
float a[3],w[3],h[3],Angle[3];
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
delay_init(168); //初始化延时函数
uart_init(115200); //初始化串口波特率为500000
LCD_Init(); //LCD初始化
JY901b_Init();
POINT_COLOR=RED;//设置字体为红色
while(1)
{
delay_ms(100);
IICreadBytes(0x50, AX, 24,&chrTemp[0]);
a[0] = (float)CharToShort(&chrTemp[0])/32768*16;
a[1] = (float)CharToShort(&chrTemp[2])/32768*16;
a[2] = (float)CharToShort(&chrTemp[4])/32768*16;
w[0] = (float)CharToShort(&chrTemp[6])/32768*2000;
w[1] = (float)CharToShort(&chrTemp[8])/32768*2000;
w[2] = (float)CharToShort(&chrTemp[10])/32768*2000;
h[0] = CharToShort(&chrTemp[12]);
h[1] = CharToShort(&chrTemp[14]);
h[2] = CharToShort(&chrTemp[16]);
Angle[0] = (float)CharToShort(&chrTemp[18])/32768*180;
Angle[1] = (float)CharToShort(&chrTemp[20])/32768*180;
Angle[2] = (float)CharToShort(&chrTemp[22])/32768*180;
sprintf((char *)str,"0X50:a:%.3f %.3f %.3f \r\n",a[0],a[1],a[2]);
LCD_ShowString(30,200,200,16,16,str);
sprintf((char *)str,"0X50:w:%.3f %.3f %.3f \r\n",w[0],w[1],w[2]);
LCD_ShowString(30,220,200,16,16,str);
sprintf((char *)str,"0X50:h:%.0f %.0f %.0f \r\n",h[0],h[1],h[2]);
LCD_ShowString(30,240,200,16,16,str);
sprintf((char *)str,"0X50:Angle:%.3f %.3f %.3f \r\n",Angle[0],Angle[1],Angle[2]);
LCD_ShowString(30,260,200,16,16,str);
}
}