ESP32读取串口传感器数据
最近拿到一个九轴陀螺仪传感器,如图:
该设备通过串口方式输出九轴数据,可用官方自带得上位机或者是sscom看到数据,官网提供了很多例程,但唯独没有ESP32的
既然提供了Arduino Mega2560的例程,那么ESP32应该也可以使用。
先说一下ESP32的串口通信方式。
ESP32基于硬件的串行通信接口总共有三个,分别定义在了如下的GPIO口:
针对三个硬件串行通信接口,ESP32已预先对应的建立了三个对象Serial、Serial1、Serial2。
因此我们才可以在开发时直接上来就写Serial.begin(9600) ; Serial.print(“Hello World!”);这样使用串口。
当然了,如果想使用UART2串口,我们就可以直接写Serial2.begin(9600) ; Serial2.print(“Hello World!”)。
我在ESP32板子上找到了rx0,tx0和rx2,tx2,原来rx0,tx0是拿来下载程序用的,只有板子上的RX2和TX2才能拿来用。所以这个设备和ESP32要这么接线:
陀螺仪VCC <> ESP32的VIN(5v供电)(这里有个大坑,这个设备必须5V供电,3.3V收不到数据)
陀螺仪GND <> ESP32的GND
陀螺仪TX <> ESP32 RX(D16)
陀螺仪RX <> ESP32 TX(D17)
进入官网:https://dl.wit-motion.com:2103/index.html#/wit-service/productLiterature/details?productId=41903864ec49452495992a0e663bbe71
下载:“7.Arduino Mega2560读取维特智能标准协议”。
然后将文件夹复制到arduino的libraries文件夹下。上代码:
#include <Wire.h> #include <JY901.h> void setup() { Serial.begin(9600); Serial2.begin(9600); } void loop() { //print received data. Data was received in serialEvent; Serial.print("Time:20");Serial.print(JY901.stcTime.ucYear);Serial.print("-");Serial.print(JY901.stcTime.ucMonth);Serial.print("-");Serial.print(JY901.stcTime.ucDay); Serial.print(" ");Serial.print(JY901.stcTime.ucHour);Serial.print(":");Serial.print(JY901.stcTime.ucMinute);Serial.print(":");Serial.println((float)JY901.stcTime.ucSecond+(float)JY901.stcTime.usMiliSecond/1000); Serial.print("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("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("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("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("Pressure:");Serial.print(JY901.stcPress.lPressure);Serial.print(" ");Serial.println((float)JY901.stcPress.lAltitude/100); Serial.print("DStatus:");Serial.print(JY901.stcDStatus.sDStatus[0]);Serial.print(" ");Serial.print(JY901.stcDStatus.sDStatus[1]);Serial.print(" ");Serial.print(JY901.stcDStatus.sDStatus[2]);Serial.print(" ");Serial.println(JY901.stcDStatus.sDStatus[3]); Serial.print("Longitude:");Serial.print(JY901.stcLonLat.lLon/10000000);Serial.print("Deg");Serial.print((double)(JY901.stcLonLat.lLon % 10000000)/1e5);Serial.print("m Lattitude:"); Serial.print(JY901.stcLonLat.lLat/10000000);Serial.print("Deg");Serial.print((double)(JY901.stcLonLat.lLat % 10000000)/1e5);Serial.println("m"); Serial.print("GPSHeight:");Serial.print((float)JY901.stcGPSV.sGPSHeight/10);Serial.print("m GPSYaw:");Serial.print((float)JY901.stcGPSV.sGPSYaw/10);Serial.print("Deg GPSV:");Serial.print((float)JY901.stcGPSV.lGPSVelocity/1000);Serial.println("km/h"); Serial.print("SN:");Serial.print(JY901.stcSN.sSVNum);Serial.print(" PDOP:");Serial.print((float)JY901.stcSN.sPDOP/100);Serial.print(" HDOP:");Serial.print((float)JY901.stcSN.sHDOP/100);Serial.print(" VDOP:");Serial.println((float)JY901.stcSN.sVDOP/100); Serial.println(""); delay(500); while (Serial2.available()) { JY901.CopeSerialData(Serial2.read()); //Call JY901 data cope function } }
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