JY901.h

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#ifndef JY901_h
#define JY901_h
#include <time.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 S_Time
{
        unsigned char ucYear;
        unsigned char ucMonth;
        unsigned char ucDay;
        unsigned char ucHour;
        unsigned char ucMinute;
        unsigned char ucSecond;
        unsigned short usMiliSecond;
};

struct S_Acc
{
        short a[3];
        short T;
};

struct S_Gyro
{
        short w[3];
        short T;
};

struct S_Angle
{
        short Angle[3];
        short T;
};

struct S_Mag
{
        short h[3];
        short T;
};

// struct SDStatus
// {
//      short sDStatus[4];
// };

// struct SPress
// {
//      long lPressure;
//      long lAltitude;
// };

// struct SLonLat
// {
//      unsigned long lLon;
//      unsigned long lLat;
// };

// struct SGPSV
// {
//      short sGPSHeight;
//      short sGPSYaw;
//      long lGPSVelocity;
// };

struct S_Quat
{
        short q[4];
};

struct Time
{
        int year;
        int month;
        int day;
        int hour;
        int min;
        int sec;
        time_t utc;
};

struct Acc
{
        double x;
        double y;
        double z;
};

struct Gyro
{
        double x;
        double y;
        double z;
};

struct Angle
{
        double r;
        double p;
        double y;
};

struct Mag
{
        double x;
        double y;
        double z;
};

struct Quat
{
        double x;
        double y;
        double z;
        double w;
};

class CJY901
{
public:
        struct Time time;
        struct Acc acc;
        Gyro gyro;
        Angle angle;
        Mag mag;
        Quat quat;

        CJY901();
        void FetchData(char *data, int usLength);

private:
        struct S_Time stcTime;
        struct S_Acc stcAcc;
        struct S_Gyro stcGyro;
        struct S_Angle stcAngle;
        struct S_Mag stcMag;
        // struct SDStatus      stcDStatus;
        // struct SPress                stcPress;
        // struct SLonLat               stcLonLat;
        // struct SGPSV                 stcGPSV;
        struct S_Quat stcQuat;
};
#endif