/*
Test on MEGA 2560. use WT901CTTL sensor
WT901CTTL MEGA 2560
VCC <---> 5V/3.3V
TX <---> 19(TX1)
RX <---> 18(RX1)
GND <---> GND
*/
#include <REG.h>
#include <wit_c_sdk.h>
#define BLINKER_BLE
#include <Blinker.h>
BlinkerNumber PITCH("num-pitch");
BlinkerNumber ROLL("num-roll");
//#define ACC_UPDATE 0x01
//#define GYRO_UPDATE 0x02
#define ANGLE_UPDATE 0x04
//#define MAG_UPDATE 0x08
#define READ_UPDATE 0x80
static volatile char s_cDataUpdate = 0, s_cCmd = 0xff;
static void CmdProcess(void);
static void AutoScanSensor(void);
static void SensorUartSend(uint8_t *p_data, uint32_t uiSize);
static void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum);
static void Delayms(uint16_t ucMs);
const uint32_t c_uiBaud[8] = {0,4800, 9600, 19200, 38400, 57600, 115200, 230400};
//void send_blinker()
//{
// PITCH.print(pitch_read);
// ROLL.print(roll_read);
// timer2 = millis();
//}
//void dataStorage(){
// Blinker.dataStorage("num-pitch", pitch);
// Blinker.dataStorage("num-roll", roll);
//}
void setup()
{
Serial.begin(115200);
// BLINKER_DEBUG.stream(Serial);
// pinMode(LED_BUILTIN, OUTPUT);
// digitalWrite(LED_BUILTIN, LOW);
// Blinker.begin(15, 14, 9600);
// Blinker.attachData(dataStorage);
WitInit(WIT_PROTOCOL_NORMAL, 0x50);
WitSerialWriteRegister(SensorUartSend);
WitRegisterCallBack(SensorDataUpdata);
WitDelayMsRegister(Delayms);
Serial.print("\r\n********************** wit-motion normal example ************************\r\n");
AutoScanSensor();
}
int i;
float fAngle[3];
void loop()
{
// timer = millis();
while (Serial1.available())
{
WitSerialDataIn(Serial1.read());
}
while (Serial.available())
{
CopeCmdData(Serial.read());
}
// Print values
if(s_cDataUpdate)
{
for(i = 0; i < 3; i++)
{
fAngle[i] = sReg[Roll+i] / 32768.0f * 180.0f;
}
if(s_cDataUpdate & ANGLE_UPDATE)
{
Serial.print("angle:");
Serial.print(fAngle[0], 3);
Serial.print(" ");
Serial.print(fAngle[1], 3);
Serial.print(" ");
Serial.print(fAngle[2], 3);
Serial.print("\r\n");
s_cDataUpdate &= ~ANGLE_UPDATE;
}
s_cDataUpdate = 0;
}
// delay((timeStep*1000) - (millis() - timer)); //makes sure we read only at a an interval of 0.01 secounds
// PITCH.print(pitch);
// ROLL.print(roll);
// Blinker.run();
// Blinker.delay(50);
// if ((millis()-timer2) > 200)
// {
// pitch_read = pitch;
// roll_read = roll;
// }
}
void CopeCmdData(unsigned char ucData)
{
static unsigned char s_ucData[50], s_ucRxCnt = 0;
s_ucData[s_ucRxCnt++] = ucData;
if(s_ucRxCnt<3)return; //Less than three data returned
if(s_ucRxCnt >= 50) s_ucRxCnt = 0;
if(s_ucRxCnt >= 3)
{
if((s_ucData[1] == '\r') && (s_ucData[2] == '\n'))
{
s_cCmd = s_ucData[0];
memset(s_ucData,0,50);
s_ucRxCnt = 0;
}
else
{
s_ucData[0] = s_ucData[1];
s_ucData[1] = s_ucData[2];
s_ucRxCnt = 2;
}
}
}
static void SensorUartSend(uint8_t *p_data, uint32_t uiSize)
{
Serial1.write(p_data, uiSize);
Serial1.flush();
}
static void Delayms(uint16_t ucMs)
{
delay(ucMs);
}
static void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum)
{
int i;
for(i = 0; i < uiRegNum; i++)
{
switch(uiReg)
{
case Yaw:
s_cDataUpdate |= ANGLE_UPDATE;
break;
default:
s_cDataUpdate |= READ_UPDATE;
break;
}
uiReg++;
}
}
static void AutoScanSensor(void)
{
int i, iRetry;
for(i = 0; i < sizeof(c_uiBaud)/sizeof(c_uiBaud[0]); i++)
{
Serial1.begin(c_uiBaud[i]);
Serial1.flush();
iRetry = 2;
s_cDataUpdate = 0;
do
{
WitReadReg(AX, 3);
delay(200);
while (Serial1.available())
{
WitSerialDataIn(Serial1.read());
}
if(s_cDataUpdate != 0)
{
Serial.print(c_uiBaud[i]);
Serial.print(" baud find sensor\r\n\r\n");
// ShowHelp();
return ;
}
iRetry--;
}while(iRetry);
}
Serial.print("can not find sensor\r\n");
Serial.print("please check your connection\r\n");
}
In file included from F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/BlinkerSerialBLE.h:25:0,
from F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Blinker.h:21,
from F:\qingjiaoyi\qingjiaoyi\qingjiaoyiblinker\qingjiaoyiblinker.ino:8:
F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Adapters/BlinkerSerial.h: In member function 'virtual char* BlinkerSerial::lastRead()':
F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Adapters/BlinkerSerial.h:36:75: warning: ISO C++ forbids converting a string constant to 'char*' [-Wwrite-strings]
char * lastRead() { if (isFresh) return streamData; else return ""; }
^~
In file included from F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Blinker/BlinkerApi.h:96:0,
from F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/BlinkerSerialBLE.h:26,
from F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Blinker.h:21,
from F:\qingjiaoyi\qingjiaoyi\qingjiaoyiblinker\qingjiaoyiblinker.ino:8:
F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Blinker/BlinkerProtocol.h: In member function 'char* BlinkerProtocol::dataParse()':
F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Blinker/BlinkerProtocol.h:257:86: warning: ISO C++ forbids converting a string constant to 'char*' [-Wwrite-strings]
char* dataParse() { if (canParse) return conn->lastRead(); else return ""; }
^~
In file included from F:\qingjiaoyi\qingjiaoyi\qingjiaoyiblinker\qingjiaoyiblinker.ino:5:0:
F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Blinker/BlinkerApi.h: At global scope:
F:\qingjiaoyi\arduino-1.8.19\libraries\ArduinoJ61/REG.h:73:17: error: expected identifier before numeric constant
#define Yaw 0x3f
^
F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Blinker/BlinkerApi.h:106:5: note: in expansion of macro 'Yaw'
Yaw,
^~~
F:\qingjiaoyi\arduino-1.8.19\libraries\ArduinoJ61/REG.h:73:17: error: expected '}' before numeric constant
#define Yaw 0x3f
^
F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Blinker/BlinkerApi.h:106:5: note: in expansion of macro 'Yaw'
Yaw,
^~~
F:\qingjiaoyi\arduino-1.8.19\libraries\ArduinoJ61/REG.h:73:17: error: expected unqualified-id before numeric constant
#define Yaw 0x3f
^
F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Blinker/BlinkerApi.h:106:5: note: in expansion of macro 'Yaw'
Yaw,
^~~
In file included from F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/BlinkerSerialBLE.h:26:0,
from F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Blinker.h:21,
from F:\qingjiaoyi\qingjiaoyi\qingjiaoyiblinker\qingjiaoyiblinker.ino:8:
F:\qingjiaoyi\arduino-1.8.19\libraries\blinker-library-0.3.9\src/Blinker/BlinkerApi.h:109:1: error: expected declaration before '}' token
};
^
exit status 1
为开发板 Arduino Mega or Mega 2560 编译时出错。
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发表于 2022-8-21 13:59