最近偶然得到一塊JY-61的陀螺儀模組，

其功能是，直接輸出MPU6050經卡爾曼濾波等演算法得出的角度，角加速度資料

省下很多功夫，但我對其演算法更感興趣

自己焊接的底板，手藝還有待提升

本示例演示的是串列埠方式讀取資料，還有IIC連線，以後有機會再分享

實驗效果

BOM

Arduino Uno  *1

JY-61    *1（含郵票底板）

跳線若干

接線方式

Arduino UNO    ---      JY-61

5V                     <--->     VCC

GND                <--->      GND

0(RX)               <--->      TX

程式

需要用到JY901的庫，找到JY901.ZIP

把庫資料夾存放在Arduino 安裝目錄的libraries庫資料夾

資料夾說明：

JY901 —— JY901陀螺儀庫

LS_JY901 —— 主程式

#include <Wire.h>
#include <JY901.h>
/*
Test on Uno R3.
JY901   UnoR3
TX <---> 0(Rx)
*/
void setup() 
{
  Serial.begin(115200);
}

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.println("");
  delay(500);
}

/*
  SerialEvent occurs whenever a new data comes in the
 hardware serial RX.  This routine is run between each
 time loop() runs, so using delay inside loop can delay
 response.  Multiple bytes of data may be available.
 */
void serialEvent() 
{
  while (Serial.available()) 
  {
    JY901.CopeSerialData(Serial.read()); //Call JY901 data cope function
  }
}