2023/3/13第五次参数飞行测试
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IMU/icm42688.c
1136
IMU/icm42688.c
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IMU/icm42688.h
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IMU/icm42688.h
@ -1,212 +1,10 @@
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#ifndef _DMX_ICM42688_H_
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#define _DMX_ICM42688_H_
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#include "stm32h7xx_hal.h"
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#include "mymain.h"
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#define ICM42688_DELAY_MS(time) (HAL_Delay(time))
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enum icm42688_afs
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{
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ICM42688_AFS_16G,// default
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ICM42688_AFS_8G,
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ICM42688_AFS_4G,
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ICM42688_AFS_2G,
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NUM_ICM42688__AFS
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};
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enum icm42688_aodr
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{
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ICM42688_AODR_32000HZ,
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ICM42688_AODR_16000HZ,
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ICM42688_AODR_8000HZ,
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ICM42688_AODR_4000HZ,
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ICM42688_AODR_2000HZ,
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ICM42688_AODR_1000HZ,// default
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ICM42688_AODR_200HZ,
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ICM42688_AODR_100HZ,
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ICM42688_AODR_50HZ,
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ICM42688_AODR_25HZ,
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ICM42688_AODR_12_5HZ,
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ICM42688_AODR_6_25HZ,
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ICM42688_AODR_3_125HZ,
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ICM42688_AODR_1_5625HZ,
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ICM42688_AODR_500HZ,
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NUM_ICM42688_AODR
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};
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enum icm42688_gfs
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{
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ICM42688_GFS_2000DPS,// default
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ICM42688_GFS_1000DPS,
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ICM42688_GFS_500DPS,
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ICM42688_GFS_250DPS,
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ICM42688_GFS_125DPS,
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ICM42688_GFS_62_5DPS,
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ICM42688_GFS_31_25DPS,
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ICM42688_GFS_15_625DPS,
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NUM_ICM42688_GFS
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};
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enum icm42688_godr
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{
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ICM42688_GODR_32000HZ,
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ICM42688_GODR_16000HZ,
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ICM42688_GODR_8000HZ,
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ICM42688_GODR_4000HZ,
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ICM42688_GODR_2000HZ,
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ICM42688_GODR_1000HZ,// default
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ICM42688_GODR_200HZ,
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ICM42688_GODR_100HZ,
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ICM42688_GODR_50HZ,
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ICM42688_GODR_25HZ,
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ICM42688_GODR_12_5HZ,
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ICM42688_GODR_X0HZ,
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ICM42688_GODR_X1HZ,
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ICM42688_GODR_X2HZ,
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ICM42688_GODR_500HZ,
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NUM_ICM42688_GODR
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};
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// ICM42688Bank0<6B>ڲ<EFBFBD><DAB2><EFBFBD>ַ
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#define ICM42688_DEVICE_CONFIG 0x11
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#define ICM42688_DRIVE_CONFIG 0x13
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#define ICM42688_INT_CONFIG 0x14
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#define ICM42688_FIFO_CONFIG 0x16
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#define ICM42688_TEMP_DATA1 0x1D
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#define ICM42688_TEMP_DATA0 0x1E
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#define ICM42688_ACCEL_DATA_X1 0x1F
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#define ICM42688_ACCEL_DATA_X0 0x20
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#define ICM42688_ACCEL_DATA_Y1 0x21
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#define ICM42688_ACCEL_DATA_Y0 0x22
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#define ICM42688_ACCEL_DATA_Z1 0x23
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#define ICM42688_ACCEL_DATA_Z0 0x24
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#define ICM42688_GYRO_DATA_X1 0x25
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#define ICM42688_GYRO_DATA_X0 0x26
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#define ICM42688_GYRO_DATA_Y1 0x27
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#define ICM42688_GYRO_DATA_Y0 0x28
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#define ICM42688_GYRO_DATA_Z1 0x29
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#define ICM42688_GYRO_DATA_Z0 0x2A
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#define ICM42688_TMST_FSYNCH 0x2B
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#define ICM42688_TMST_FSYNCL 0x2C
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#define ICM42688_INT_STATUS 0x2D
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#define ICM42688_FIFO_COUNTH 0x2E
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#define ICM42688_FIFO_COUNTL 0x2F
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#define ICM42688_FIFO_DATA 0x30
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#define ICM42688_APEX_DATA0 0x31
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#define ICM42688_APEX_DATA1 0x32
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#define ICM42688_APEX_DATA2 0x33
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#define ICM42688_APEX_DATA3 0x34
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#define ICM42688_APEX_DATA4 0x35
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#define ICM42688_APEX_DATA5 0x36
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#define ICM42688_INT_STATUS2 0x37
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#define ICM42688_INT_STATUS3 0x38
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#define ICM42688_SIGNAL_PATH_RESET 0x4B
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#define ICM42688_INTF_CONFIG0 0x4C
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#define ICM42688_INTF_CONFIG1 0x4D
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#define ICM42688_PWR_MGMT0 0x4E
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#define ICM42688_GYRO_CONFIG0 0x4F
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#define ICM42688_ACCEL_CONFIG0 0x50
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#define ICM42688_GYRO_CONFIG1 0x51
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#define ICM42688_GYRO_ACCEL_CONFIG0 0x52
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#define ICM42688_ACCEL_CONFIG1 0x53
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#define ICM42688_TMST_CONFIG 0x54
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#define ICM42688_APEX_CONFIG0 0x56
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#define ICM42688_SMD_CONFIG 0x57
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#define ICM42688_FIFO_CONFIG1 0x5F
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#define ICM42688_FIFO_CONFIG2 0x60
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#define ICM42688_FIFO_CONFIG3 0x61
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#define ICM42688_FSYNC_CONFIG 0x62
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#define ICM42688_INT_CONFIG0 0x63
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#define ICM42688_INT_CONFIG1 0x64
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#define ICM42688_INT_SOURCE0 0x65
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#define ICM42688_INT_SOURCE1 0x66
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#define ICM42688_INT_SOURCE3 0x68
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#define ICM42688_INT_SOURCE4 0x69
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#define ICM42688_FIFO_LOST_PKT0 0x6C
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#define ICM42688_FIFO_LOST_PKT1 0x6D
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#define ICM42688_SELF_TEST_CONFIG 0x70
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#define ICM42688_WHO_AM_I 0x75
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#define ICM42688_REG_BANK_SEL 0x76 // Banks
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#define ICM42688_SENSOR_CONFIG0 0x03
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#define ICM42688_GYRO_CONFIG_STATIC2 0x0B
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#define ICM42688_GYRO_CONFIG_STATIC3 0x0C
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#define ICM42688_GYRO_CONFIG_STATIC4 0x0D
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#define ICM42688_GYRO_CONFIG_STATIC5 0x0E
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#define ICM42688_GYRO_CONFIG_STATIC6 0x0F
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#define ICM42688_GYRO_CONFIG_STATIC7 0x10
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#define ICM42688_GYRO_CONFIG_STATIC8 0x11
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#define ICM42688_GYRO_CONFIG_STATIC9 0x12
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#define ICM42688_GYRO_CONFIG_STATIC10 0x13
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#define ICM42688_XG_ST_DATA 0x5F
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#define ICM42688_YG_ST_DATA 0x60
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#define ICM42688_ZG_ST_DATA 0x61
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#define ICM42688_TMSTVAL0 0x62
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#define ICM42688_TMSTVAL1 0x63
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#define ICM42688_TMSTVAL2 0x64
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#define ICM42688_INTF_CONFIG4 0x7A
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#define ICM42688_INTF_CONFIG5 0x7B
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#define ICM42688_INTF_CONFIG6 0x7C
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static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num);
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static void Write_Data_ICM42688(unsigned char reg, unsigned char dat);
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void Init_ICM42688(void);
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//void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status);
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void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr);
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uint8_t MpuGetData(void);
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#endif
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//
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//#ifndef _DMX_ICM42688_H_
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//#define _DMX_ICM42688_H_
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//#include "stm32h7xx_hal.h"
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//#include "mymain.h"
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//#define ICM42688_DELAY_MS(time) (HAL_Delay(time))
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//
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//extern float icm42688_acc_x, icm42688_acc_y, icm42688_acc_z ; // <20><><EFBFBD><EFBFBD>ICM42688<38><38><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>
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//extern float icm42688_gyro_x, icm42688_gyro_y, icm42688_gyro_z ; // <20><><EFBFBD><EFBFBD>ICM42688<38>Ǽ<EFBFBD><C7BC>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>
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//static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num);
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//static void Write_Data_ICM42688(unsigned char reg, unsigned char dat);
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//
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//enum icm42688_afs
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//{
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// ICM42688_AFS_16G,// default
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@ -268,58 +66,7 @@ uint8_t MpuGetData(void);
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// NUM_ICM42688_GODR
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//};
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//
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//void gpio_init(void);
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//
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///**
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//*
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//* @brief ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>dz<EFBFBD>ʼ<EFBFBD><CABC>
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//* @param
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//* @return void
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//* @notes <20>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
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//* Example: Init_ICM42688();
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//*
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//**/
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//void Init_ICM42688(void);
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////void get_IMU(float accx,float accy,float accz,float *pitch,float *roll);
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//void get_IMU(float *pitch,float *roll);
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//uint8_t sys_gpio_pin_get(GPIO_TypeDef *p_gpiox, uint16_t pinx);
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//void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status);
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///**
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//*
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//* @brief <20><><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC>ٶ<EFBFBD>
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//* @param
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//* @return void
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//* @notes <20><>λ:g(m/s^2),<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
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//* Example: Get_Acc_ICM42688();
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//*
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//**/
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//void Get_Acc_ICM42688(void);
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//
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///**
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//*
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//* @brief <20><><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>ǽǼ<C7BD><C7BC>ٶ<EFBFBD>
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//* @param
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//* @return void
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//* @notes <20><>λΪ:<3A><>/s,<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
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//* Example: Get_Gyro_ICM42688();
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//*
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//**/
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//void Get_Gyro_ICM42688(void);
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//
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///**
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//*
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//* @brief <20><><EFBFBD><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>ǵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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//* @param afs // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
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//* @param aodr // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
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//* @param gfs // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
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//* @param godr // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
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//* @return void
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//* @notes ICM42688.c<>ļ<EFBFBD><C4BC>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>,<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ó<EFBFBD><C3B3><EFBFBD>
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//* Example: Set_LowpassFilter_Range_ICM42688(ICM42688_AFS_16G,ICM42688_AODR_32000HZ,ICM42688_GFS_2000DPS,ICM42688_GODR_32000HZ);
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//*
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//**/
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//void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr);
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//uint8_t MpuGetData(void);
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//// ICM42688Bank0<6B>ڲ<EFBFBD><DAB2><EFBFBD>ַ
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//#define ICM42688_DEVICE_CONFIG 0x11
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//#define ICM42688_DRIVE_CONFIG 0x13
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@ -400,5 +147,258 @@ uint8_t MpuGetData(void);
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//#define ICM42688_INTF_CONFIG5 0x7B
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//#define ICM42688_INTF_CONFIG6 0x7C
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//
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//#endif
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//
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//static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num);
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//static void Write_Data_ICM42688(unsigned char reg, unsigned char dat);
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//void Init_ICM42688(void);
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////void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status);
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//void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr);
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//uint8_t MpuGetData(void);
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//
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//
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//#endif
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#ifndef _DMX_ICM42688_H_
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#define _DMX_ICM42688_H_
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#include "stm32h7xx_hal.h"
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#include "mymain.h"
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#define ICM42688_DELAY_MS(time) (HAL_Delay(time))
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extern float icm42688_acc_x, icm42688_acc_y, icm42688_acc_z ; // <20><><EFBFBD><EFBFBD>ICM42688<38><38><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>
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extern float icm42688_gyro_x, icm42688_gyro_y, icm42688_gyro_z ; // <20><><EFBFBD><EFBFBD>ICM42688<38>Ǽ<EFBFBD><C7BC>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>
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static void Read_Datas_ICM42688(unsigned char reg, unsigned char *dat, unsigned int num);
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static void Write_Data_ICM42688(unsigned char reg, unsigned char dat);
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enum icm42688_afs
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{
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ICM42688_AFS_16G,// default
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ICM42688_AFS_8G,
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ICM42688_AFS_4G,
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ICM42688_AFS_2G,
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NUM_ICM42688__AFS
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};
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enum icm42688_aodr
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{
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ICM42688_AODR_32000HZ,
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ICM42688_AODR_16000HZ,
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ICM42688_AODR_8000HZ,
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ICM42688_AODR_4000HZ,
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ICM42688_AODR_2000HZ,
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ICM42688_AODR_1000HZ,// default
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ICM42688_AODR_200HZ,
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ICM42688_AODR_100HZ,
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ICM42688_AODR_50HZ,
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ICM42688_AODR_25HZ,
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ICM42688_AODR_12_5HZ,
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ICM42688_AODR_6_25HZ,
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ICM42688_AODR_3_125HZ,
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ICM42688_AODR_1_5625HZ,
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ICM42688_AODR_500HZ,
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NUM_ICM42688_AODR
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};
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enum icm42688_gfs
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{
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ICM42688_GFS_2000DPS,// default
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ICM42688_GFS_1000DPS,
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ICM42688_GFS_500DPS,
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ICM42688_GFS_250DPS,
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ICM42688_GFS_125DPS,
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ICM42688_GFS_62_5DPS,
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ICM42688_GFS_31_25DPS,
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ICM42688_GFS_15_625DPS,
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NUM_ICM42688_GFS
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};
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enum icm42688_godr
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{
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ICM42688_GODR_32000HZ,
|
||||
ICM42688_GODR_16000HZ,
|
||||
ICM42688_GODR_8000HZ,
|
||||
ICM42688_GODR_4000HZ,
|
||||
ICM42688_GODR_2000HZ,
|
||||
ICM42688_GODR_1000HZ,// default
|
||||
ICM42688_GODR_200HZ,
|
||||
ICM42688_GODR_100HZ,
|
||||
ICM42688_GODR_50HZ,
|
||||
ICM42688_GODR_25HZ,
|
||||
ICM42688_GODR_12_5HZ,
|
||||
ICM42688_GODR_X0HZ,
|
||||
ICM42688_GODR_X1HZ,
|
||||
ICM42688_GODR_X2HZ,
|
||||
ICM42688_GODR_500HZ,
|
||||
NUM_ICM42688_GODR
|
||||
};
|
||||
|
||||
void gpio_init(void);
|
||||
|
||||
/**
|
||||
*
|
||||
* @brief ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>dz<EFBFBD>ʼ<EFBFBD><CABC>
|
||||
* @param
|
||||
* @return void
|
||||
* @notes <20>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
|
||||
* Example: Init_ICM42688();
|
||||
*
|
||||
**/
|
||||
void Init_ICM42688(void);
|
||||
//void get_IMU(float accx,float accy,float accz,float *pitch,float *roll);
|
||||
void get_IMU(float *pitch,float *roll);
|
||||
uint8_t sys_gpio_pin_get(GPIO_TypeDef *p_gpiox, uint16_t pinx);
|
||||
void sys_gpio_pin_set(GPIO_TypeDef *p_gpiox, uint16_t pinx, uint8_t status);
|
||||
/**
|
||||
*
|
||||
* @brief <20><><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC>ٶ<EFBFBD>
|
||||
* @param
|
||||
* @return void
|
||||
* @notes <20><>λ:g(m/s^2),<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
|
||||
* Example: Get_Acc_ICM42688();
|
||||
*
|
||||
**/
|
||||
void Get_Acc_ICM42688(void);
|
||||
|
||||
/**
|
||||
*
|
||||
* @brief <20><><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>ǽǼ<C7BD><C7BC>ٶ<EFBFBD>
|
||||
* @param
|
||||
* @return void
|
||||
* @notes <20><>λΪ:<3A><>/s,<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD>
|
||||
* Example: Get_Gyro_ICM42688();
|
||||
*
|
||||
**/
|
||||
void Get_Gyro_ICM42688(void);
|
||||
|
||||
/**
|
||||
*
|
||||
* @brief <20><><EFBFBD><EFBFBD>ICM42688<38><38><EFBFBD><EFBFBD><EFBFBD>ǵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
* @param afs // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
|
||||
* @param aodr // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
|
||||
* @param gfs // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
|
||||
* @param godr // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>dmx_icm42688.h<>ļ<EFBFBD><C4BC><EFBFBD>ö<EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>в鿴
|
||||
* @return void
|
||||
* @notes ICM42688.c<>ļ<EFBFBD><C4BC>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>,<2C>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ó<EFBFBD><C3B3><EFBFBD>
|
||||
* Example: Set_LowpassFilter_Range_ICM42688(ICM42688_AFS_16G,ICM42688_AODR_32000HZ,ICM42688_GFS_2000DPS,ICM42688_GODR_32000HZ);
|
||||
*
|
||||
**/
|
||||
void Set_LowpassFilter_Range_ICM42688(enum icm42688_afs afs, enum icm42688_aodr aodr, enum icm42688_gfs gfs, enum icm42688_godr godr);
|
||||
uint8_t MpuGetData(void);
|
||||
// ICM42688Bank0<6B>ڲ<EFBFBD><DAB2><EFBFBD>ַ
|
||||
#define ICM42688_DEVICE_CONFIG 0x11
|
||||
#define ICM42688_DRIVE_CONFIG 0x13
|
||||
#define ICM42688_INT_CONFIG 0x14
|
||||
#define ICM42688_FIFO_CONFIG 0x16
|
||||
#define ICM42688_TEMP_DATA1 0x1D
|
||||
#define ICM42688_TEMP_DATA0 0x1E
|
||||
#define ICM42688_ACCEL_DATA_X1 0x1F
|
||||
#define ICM42688_ACCEL_DATA_X0 0x20
|
||||
#define ICM42688_ACCEL_DATA_Y1 0x21
|
||||
#define ICM42688_ACCEL_DATA_Y0 0x22
|
||||
#define ICM42688_ACCEL_DATA_Z1 0x23
|
||||
#define ICM42688_ACCEL_DATA_Z0 0x24
|
||||
#define ICM42688_GYRO_DATA_X1 0x25
|
||||
#define ICM42688_GYRO_DATA_X0 0x26
|
||||
#define ICM42688_GYRO_DATA_Y1 0x27
|
||||
#define ICM42688_GYRO_DATA_Y0 0x28
|
||||
#define ICM42688_GYRO_DATA_Z1 0x29
|
||||
#define ICM42688_GYRO_DATA_Z0 0x2A
|
||||
#define ICM42688_TMST_FSYNCH 0x2B
|
||||
#define ICM42688_TMST_FSYNCL 0x2C
|
||||
#define ICM42688_INT_STATUS 0x2D
|
||||
#define ICM42688_FIFO_COUNTH 0x2E
|
||||
#define ICM42688_FIFO_COUNTL 0x2F
|
||||
#define ICM42688_FIFO_DATA 0x30
|
||||
#define ICM42688_APEX_DATA0 0x31
|
||||
#define ICM42688_APEX_DATA1 0x32
|
||||
#define ICM42688_APEX_DATA2 0x33
|
||||
#define ICM42688_APEX_DATA3 0x34
|
||||
#define ICM42688_APEX_DATA4 0x35
|
||||
#define ICM42688_APEX_DATA5 0x36
|
||||
#define ICM42688_INT_STATUS2 0x37
|
||||
#define ICM42688_INT_STATUS3 0x38
|
||||
#define ICM42688_SIGNAL_PATH_RESET 0x4B
|
||||
#define ICM42688_INTF_CONFIG0 0x4C
|
||||
#define ICM42688_INTF_CONFIG1 0x4D
|
||||
#define ICM42688_PWR_MGMT0 0x4E
|
||||
#define ICM42688_GYRO_CONFIG0 0x4F
|
||||
#define ICM42688_ACCEL_CONFIG0 0x50
|
||||
#define ICM42688_GYRO_CONFIG1 0x51
|
||||
#define ICM42688_GYRO_ACCEL_CONFIG0 0x52
|
||||
#define ICM42688_ACCEL_CONFIG1 0x53
|
||||
#define ICM42688_TMST_CONFIG 0x54
|
||||
#define ICM42688_APEX_CONFIG0 0x56
|
||||
#define ICM42688_SMD_CONFIG 0x57
|
||||
#define ICM42688_FIFO_CONFIG1 0x5F
|
||||
#define ICM42688_FIFO_CONFIG2 0x60
|
||||
#define ICM42688_FIFO_CONFIG3 0x61
|
||||
#define ICM42688_FSYNC_CONFIG 0x62
|
||||
#define ICM42688_INT_CONFIG0 0x63
|
||||
#define ICM42688_INT_CONFIG1 0x64
|
||||
#define ICM42688_INT_SOURCE0 0x65
|
||||
#define ICM42688_INT_SOURCE1 0x66
|
||||
#define ICM42688_INT_SOURCE3 0x68
|
||||
#define ICM42688_INT_SOURCE4 0x69
|
||||
#define ICM42688_FIFO_LOST_PKT0 0x6C
|
||||
#define ICM42688_FIFO_LOST_PKT1 0x6D
|
||||
#define ICM42688_SELF_TEST_CONFIG 0x70
|
||||
#define ICM42688_WHO_AM_I 0x75
|
||||
#define ICM42688_REG_BANK_SEL 0x76 // Banks
|
||||
#define ICM42688_SENSOR_CONFIG0 0x03
|
||||
#define ICM42688_GYRO_CONFIG_STATIC2 0x0B
|
||||
#define ICM42688_GYRO_CONFIG_STATIC3 0x0C
|
||||
#define ICM42688_GYRO_CONFIG_STATIC4 0x0D
|
||||
#define ICM42688_GYRO_CONFIG_STATIC5 0x0E
|
||||
#define ICM42688_GYRO_CONFIG_STATIC6 0x0F
|
||||
#define ICM42688_GYRO_CONFIG_STATIC7 0x10
|
||||
#define ICM42688_GYRO_CONFIG_STATIC8 0x11
|
||||
#define ICM42688_GYRO_CONFIG_STATIC9 0x12
|
||||
#define ICM42688_GYRO_CONFIG_STATIC10 0x13
|
||||
#define ICM42688_XG_ST_DATA 0x5F
|
||||
#define ICM42688_YG_ST_DATA 0x60
|
||||
#define ICM42688_ZG_ST_DATA 0x61
|
||||
#define ICM42688_TMSTVAL0 0x62
|
||||
#define ICM42688_TMSTVAL1 0x63
|
||||
#define ICM42688_TMSTVAL2 0x64
|
||||
#define ICM42688_INTF_CONFIG4 0x7A
|
||||
#define ICM42688_INTF_CONFIG5 0x7B
|
||||
#define ICM42688_INTF_CONFIG6 0x7C
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
10
IMU/kalman.h
10
IMU/kalman.h
@ -3,12 +3,12 @@
|
||||
|
||||
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9>
|
||||
struct KalmanFilter{
|
||||
float LastP; //<2F><>һ<EFBFBD><D2BB>Э<EFBFBD><D0AD><EFBFBD><EFBFBD>
|
||||
float LastP; //<2F><>һ<EFBFBD><D2BB>Э<EFBFBD><D0AD><EFBFBD><EFBFBD>
|
||||
float NewP; //<2F><><EFBFBD>µ<EFBFBD>Э<EFBFBD><D0AD><EFBFBD><EFBFBD>
|
||||
float Out; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
float Kg; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
float Q; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Э<EFBFBD><D0AD><EFBFBD><EFBFBD>
|
||||
float R; //<2F>۲<EFBFBD><DBB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Э<EFBFBD><D0AD><EFBFBD><EFBFBD>
|
||||
float Out; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
float Kg; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
float Q; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Э<EFBFBD><D0AD><EFBFBD><EFBFBD>
|
||||
float R; //<2F>۲<EFBFBD><DBB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Э<EFBFBD><D0AD><EFBFBD><EFBFBD>
|
||||
};
|
||||
|
||||
extern void kalmanfiter(struct KalmanFilter *EKF,float input); //һά<D2BB><CEAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>
|
||||
|
||||
Reference in New Issue
Block a user