用STM32F103读取ICM42605陀螺仪、加速度的数据

supergiant

## 1 准备工作
1) 硬件设备：JY62模块、六合一、USB-TTL、杜邦线、STM32F103C8T6单片机。给大家看下图片。


JY62












                                                  STM32F103C8T6

2）软件准备 ： KEIL 5 (5.17版本的）

链接：https://pan.baidu.com/s/1SEWmixu4jtUL2HH_3Hcn2g

提取码：zryo

3）示例代码：https://pan.baidu.com/s/1sXnlT89FTTs5tONLiaPihw

##  2 接线方式
1、使用数据线将STM32F103C8T6与电脑连接通信 注意：给STM32F103C8T6需要用5V才可以

2、JY62与STM32F103C8T6使用杜邦线连接。具体接线如下图所示：

具体接线方式如下：

USB-TTL---------------STM32F103C8T6---------------JY62

        VCC(5V)-------------- VCC -------------------------VCC

          TX-------------------RX1(PA10),PA3---------------------------TX

          RX-------------------TX1(PA9),PA2----------------------------RX

        GND------------------GND, GND----------------------------GND





3 程序讲解
3.1 串口程序讲解

    从上面的接线可以看出呢。一共用了32单片机的两个UART引脚。一个是UART1这个是把处理过的数据发送到PC端。一个是UART2这个是用来接收JY62传过来的数据。UART2也是使用中断来接收到数据。这些都是在初始化UART2的时候来配置的。前面那部分都是默认的串口配置。设置波特率、数据位8位、停止位1、无奇偶检验、配置串口模式。最后再初始化USART2。一般都是固定的。后面的USART_ITConfig。就是开启串口中断。

USART_InitStructure[backcolor=inherit !important].USART_BaudRate = baudrate[backcolor=inherit !important];        USART_InitStructure[backcolor=inherit !important].USART_WordLength = USART_WordLength_8b[backcolor=inherit !important];        USART_InitStructure[backcolor=inherit !important].USART_StopBits = USART_StopBits_1[backcolor=inherit !important];        USART_InitStructure[backcolor=inherit !important].USART_Parity = USART_Parity_No [backcolor=inherit !important];        USART_InitStructure[backcolor=inherit !important].USART_HardwareFlowControl = USART_HardwareFlowControl_None[backcolor=inherit !important];        USART_InitStructure[backcolor=inherit !important].USART_Mode = USART_Mode_Rx | USART_Mode_Tx[backcolor=inherit !important];        [backcolor=inherit !important]USART_Init[backcolor=inherit !important](USART2[backcolor=inherit !important], &USART_InitStructure[backcolor=inherit !important])[backcolor=inherit !important];         [backcolor=inherit !important]USART_ITConfig[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_TXE[backcolor=inherit !important], DISABLE[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//串口2的发送端TX是不使能的           [backcolor=inherit !important]USART_ITConfig[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_RXNE[backcolor=inherit !important], ENABLE[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//串口2的接收端的RX使能
使能串口中断后呢。UART2的数据都会一个个字节的往DR寄存器里面写。

[backcolor=inherit !important]void [backcolor=inherit !important]USART2_IRQHandler[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{  [backcolor=inherit !important]if[backcolor=inherit !important]([backcolor=inherit !important]USART_GetITStatus[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_TXE[backcolor=inherit !important]) != RESET[backcolor=inherit !important])[backcolor=inherit !important]//由于TX中断被禁止了所以这个if是不会进入的。  [backcolor=inherit !important]{       [backcolor=inherit !important]USART_SendData[backcolor=inherit !important](USART2[backcolor=inherit !important], TxBuffer[backcolor=inherit !important][TxCounter++[backcolor=inherit !important]][backcolor=inherit !important])[backcolor=inherit !important];     [backcolor=inherit !important]USART_ClearITPendingBit[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_TXE[backcolor=inherit !important])[backcolor=inherit !important];    [backcolor=inherit !important]if[backcolor=inherit !important](TxCounter == count[backcolor=inherit !important]) [backcolor=inherit !important]USART_ITConfig[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_TXE[backcolor=inherit !important], DISABLE[backcolor=inherit !important])[backcolor=inherit !important];  [backcolor=inherit !important]}        [backcolor=inherit !important]else [backcolor=inherit !important]if[backcolor=inherit !important]([backcolor=inherit !important]USART_GetITStatus[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_RXNE[backcolor=inherit !important]) != RESET[backcolor=inherit !important])[backcolor=inherit !important]//直接进入RX的这个中断  [backcolor=inherit !important]{                [backcolor=inherit !important]CopeSerial2Data[backcolor=inherit !important]([backcolor=inherit !important]([backcolor=inherit !important]unsigned [backcolor=inherit !important]char[backcolor=inherit !important])USART2->DR[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//把UART2的数据给到DR寄存器后呢，再由这个CopeSerial2Data函数把数据给到给出去了                [backcolor=inherit !important]USART_ClearITPendingBit[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_RXNE[backcolor=inherit !important])[backcolor=inherit !important];  [backcolor=inherit !important]}                [backcolor=inherit !important]USART_ClearITPendingBit[backcolor=inherit !important](USART2[backcolor=inherit !important],USART_IT_ORE[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]}
当串口2中断接收到数据后会通过上面的CopeSerial2Data（）函数。存在ucRxBuffer[250]。这个数组里面。然后就可以根据商家给的通讯协议去进行数据处理了。

[backcolor=inherit !important]void [backcolor=inherit !important]CopeSerial2Data[backcolor=inherit !important]([backcolor=inherit !important]unsigned [backcolor=inherit !important]char ucData[backcolor=inherit !important])[backcolor=inherit !important]{        [backcolor=inherit !important]static [backcolor=inherit !important]unsigned [backcolor=inherit !important]char ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]250[backcolor=inherit !important]][backcolor=inherit !important];        [backcolor=inherit !important]static [backcolor=inherit !important]unsigned [backcolor=inherit !important]char ucRxCnt = [backcolor=inherit !important]0[backcolor=inherit !important];                        [backcolor=inherit !important]LED_REVERSE[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];                                        [backcolor=inherit !important]//接收到数据，LED灯闪烁一下        ucRxBuffer[backcolor=inherit !important][ucRxCnt++[backcolor=inherit !important]]=ucData[backcolor=inherit !important];        [backcolor=inherit !important]//将中断的数据存在了这个数组里        [backcolor=inherit !important]if [backcolor=inherit !important](ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]!=[backcolor=inherit !important]0x55[backcolor=inherit !important]) [backcolor=inherit !important]//数据头不对，则重新开始寻找0x55数据头        [backcolor=inherit !important]{                ucRxCnt=[backcolor=inherit !important]0[backcolor=inherit !important];                [backcolor=inherit !important]return[backcolor=inherit !important];        [backcolor=inherit !important]}
3.2数据处理部分

根据商家的协议由下图所示





根据这个协议就很好理解我写的数据处理程序。这个JY62串口输出的角度的一共是11位数据。所以，我先判断数据 的长度是不是11位，然后再判断包头是不是55。如果不是55在判断下一位是不是55。直到我找到了55这个包头，然后才进行11位数据的第二位的数据的判断，是不是50、51、52、53、54这种商家定义的代表时间、加速度、角速度、角度、磁场的数。

[backcolor=inherit !important]if [backcolor=inherit !important](ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]!=[backcolor=inherit !important]0x55[backcolor=inherit !important]) [backcolor=inherit !important]//数据头不对，则重新开始寻找0x55数据头        [backcolor=inherit !important]{                ucRxCnt=[backcolor=inherit !important]0[backcolor=inherit !important];                [backcolor=inherit !important]return[backcolor=inherit !important];        [backcolor=inherit !important]}        [backcolor=inherit !important]if [backcolor=inherit !important](ucRxCnt<[backcolor=inherit !important]11[backcolor=inherit !important]) [backcolor=inherit !important]{[backcolor=inherit !important]return[backcolor=inherit !important];[backcolor=inherit !important]}[backcolor=inherit !important]//数据不满11个，则返回        [backcolor=inherit !important]else        [backcolor=inherit !important]{                [backcolor=inherit !important]switch[backcolor=inherit !important](ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]][backcolor=inherit !important])[backcolor=inherit !important]//判断数据是哪种数据，然后将其拷贝到对应的结构体中，有些数据包需要通过上位机打开对应的输出后，才能接收到这个数据包的数据                [backcolor=inherit !important]{                        [backcolor=inherit !important]case [backcolor=inherit !important]0x50:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcTime[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];[backcolor=inherit !important]//memcpy为编译器自带的内存拷贝函数，需引用"string.h"，将接收缓冲区的字符拷贝到数据结构体里面，从而实现数据的解析。                        [backcolor=inherit !important]case [backcolor=inherit !important]0x51:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcAcc[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                        [backcolor=inherit !important]case [backcolor=inherit !important]0x52:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcGyro[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                        [backcolor=inherit !important]case [backcolor=inherit !important]0x53:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcAngle[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                        [backcolor=inherit !important]case [backcolor=inherit !important]0x54:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcMag[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                        [backcolor=inherit !important]case [backcolor=inherit !important]0x55:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcDStatus[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                        [backcolor=inherit !important]case [backcolor=inherit !important]0x56:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcPress[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                        [backcolor=inherit !important]case [backcolor=inherit !important]0x57:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcLonLat[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                        [backcolor=inherit !important]case [backcolor=inherit !important]0x58:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcGPSV[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                        [backcolor=inherit !important]case [backcolor=inherit !important]0x59:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcQ[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                [backcolor=inherit !important]}                ucRxCnt=[backcolor=inherit !important]0[backcolor=inherit !important];[backcolor=inherit !important]//清空缓存区        [backcolor=inherit !important]}[backcolor=inherit !important]}
3 UART打印程序

把上面得到的正确的格式的数据输出到电脑上。

[backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Time:20%d-%d-%d %d:%d:%.3f\r\n"[backcolor=inherit !important],stcTime[backcolor=inherit !important].ucYear[backcolor=inherit !important],stcTime[backcolor=inherit !important].ucMonth[backcolor=inherit !important],stcTime[backcolor=inherit !important].ucDay[backcolor=inherit !important],stcTime[backcolor=inherit !important].ucHour[backcolor=inherit !important],stcTime[backcolor=inherit !important].ucMinute[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcTime[backcolor=inherit !important].ucSecond+[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcTime[backcolor=inherit !important].usMiliSecond/[backcolor=inherit !important]1000[backcolor=inherit !important])[backcolor=inherit !important];                        [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//输出加速度                [backcolor=inherit !important]//串口接受到的数据已经拷贝到对应的结构体的变量中了，根据说明书的协议，以加速度为例 stcAcc.a[0]/32768*16就是X轴的加速度，                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Acc:%.3f %.3f %.3f\r\n"[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAcc[backcolor=inherit !important].a[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]16[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAcc[backcolor=inherit !important].a[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]16[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAcc[backcolor=inherit !important].a[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]16[backcolor=inherit !important])[backcolor=inherit !important];                        [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//输出角速度                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Gyro:%.3f %.3f %.3f\r\n"[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcGyro[backcolor=inherit !important].w[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]2000[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcGyro[backcolor=inherit !important].w[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]2000[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcGyro[backcolor=inherit !important].w[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]2000[backcolor=inherit !important])[backcolor=inherit !important];                        [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//输出角度                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Angle:%.3f %.3f %.3f\r\n"[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAngle[backcolor=inherit !important].Angle[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]180[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAngle[backcolor=inherit !important].Angle[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]180[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAngle[backcolor=inherit !important].Angle[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]180[backcolor=inherit !important])[backcolor=inherit !important];                        [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//输出磁场                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Mag:%d %d %d\r\n"[backcolor=inherit !important],stcMag[backcolor=inherit !important].h[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]][backcolor=inherit !important],stcMag[backcolor=inherit !important].h[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]][backcolor=inherit !important],stcMag[backcolor=inherit !important].h[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important])[backcolor=inherit !important];                                [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//输出气压、高度                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Pressure:%ld Height%.2f\r\n"[backcolor=inherit !important],stcPress[backcolor=inherit !important].lPressure[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcPress[backcolor=inherit !important].lAltitude/[backcolor=inherit !important]100[backcolor=inherit !important])[backcolor=inherit !important];                        [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//输出端口状态                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"DStatus:%d %d %d %d\r\n"[backcolor=inherit !important],stcDStatus[backcolor=inherit !important].sDStatus[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]][backcolor=inherit !important],stcDStatus[backcolor=inherit !important].sDStatus[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]][backcolor=inherit !important],stcDStatus[backcolor=inherit !important].sDStatus[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],stcDStatus[backcolor=inherit !important].sDStatus[backcolor=inherit !important][[backcolor=inherit !important]3[backcolor=inherit !important]][backcolor=inherit !important])[backcolor=inherit !important];                        [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//输出经纬度                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Longitude:%ldDeg%.5fm Lattitude:%ldDeg%.5fm\r\n"[backcolor=inherit !important],stcLonLat[backcolor=inherit !important].lLon/[backcolor=inherit !important]10000000[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]double[backcolor=inherit !important])[backcolor=inherit !important](stcLonLat[backcolor=inherit !important].lLon % [backcolor=inherit !important]10000000[backcolor=inherit !important])/[backcolor=inherit !important]1e5[backcolor=inherit !important],stcLonLat[backcolor=inherit !important].lLat/[backcolor=inherit !important]10000000[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]double[backcolor=inherit !important])[backcolor=inherit !important](stcLonLat[backcolor=inherit !important].lLat % [backcolor=inherit !important]10000000[backcolor=inherit !important])/[backcolor=inherit !important]1e5[backcolor=inherit !important])[backcolor=inherit !important];                        [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//输出地速                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"GPSHeight:%.1fm GPSYaw:%.1fDeg GPSV:%.3fkm/h\r\n"[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcGPSV[backcolor=inherit !important].sGPSHeight/[backcolor=inherit !important]10[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcGPSV[backcolor=inherit !important].sGPSYaw/[backcolor=inherit !important]10[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcGPSV[backcolor=inherit !important].lGPSVelocity/[backcolor=inherit !important]1000[backcolor=inherit !important])[backcolor=inherit !important];                        [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//输出四元素                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Four elements:%.5f %.5f %.5f %.5f\r\n\r\n"[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcQ[backcolor=inherit !important].q[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]/[backcolor=inherit !important]32768[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcQ[backcolor=inherit !important].q[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]/[backcolor=inherit !important]32768[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcQ[backcolor=inherit !important].q[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]]/[backcolor=inherit !important]32768[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcQ[backcolor=inherit !important].q[backcolor=inherit !important][[backcolor=inherit !important]3[backcolor=inherit !important]]/[backcolor=inherit !important]32768[backcolor=inherit !important])[backcolor=inherit !important];                    [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//等待传输完成
## 4 生成下载文件。
1、在OUTUT勾选Creat HEX File





2、找到生成的HEX文件





## 5 下载程序
1、用数据线连接好STM32F103C8T6单片机和PC端。

2、按照“软件配置.png”图示设置好软件。

3、找到所需的hex文件。

4、按STM32F103C8T6单片机的红色的Bootloader 键

5、点击开始编程按钮，下载程序





## 6 输出结果显示
在电脑上正确连接好板子，首先打开串口调试助手，找到相应的端口，然后打开串口，注意这里波特率设置为9600，然后就可以观察到左边的窗口有数据输出了。如图所示：

buyuangudan

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