新手入门
- 积分
- 17
- 金钱
- 17
- 注册时间
- 2016-8-11
- 在线时间
- 4 小时
|
2金钱
@原子哥，@各位大神。我想问一下，在阿波罗开发板、实验34 MPU9250九轴传感器实验里，初始化mpu_dmp_init()是怎样初始化航向角(yaw)为0的？
我想通过一个按键来初始化航向角为0可以吗？
 谢谢！
[mw_shl_code=c,true]int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
/* USER CODE BEGIN 2 */
delay_init(180); //初始化延时函数
while(mpu_dmp_init()){}
/* USER CODE END 2 */
/* Infinite loop */
while (1)
{
if(mpu_mpl_get_data(&pitch,&roll,&yaw)==0){
//temp=MPU_Get_Temperature(); //得到温度值
MPU_Get_Accelerometer(&aacx,&aacy,&aacz); //得到加速度传感器数据
MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz); //得到陀螺仪数据
}
}
}[/mw_shl_code]
[mw_shl_code=c,true]//mpu6050,dmp初始化
//返回值:0,正常
// 其他,失败
u8 mpu_dmp_init(void)
{
u8 res=0;
struct int_param_s int_param;
unsigned char accel_fsr;
unsigned short gyro_rate, gyro_fsr;
unsigned short compass_fsr;
IIC_Init(); //初始化IIC总线
if(mpu_init(&int_param)==0) //初始化MPU9250
{
res=inv_init_mpl(); //初始化MPL
if(res)return 1;
inv_enable_quaternion();
inv_enable_9x_sensor_fusion();
inv_enable_fast_nomot();
inv_enable_gyro_tc();
inv_enable_vector_compass_cal();
inv_enable_magnetic_disturbance();
inv_enable_eMPL_outputs();
res=inv_start_mpl(); //开启MPL
if(res)return 1;
res=mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL|INV_XYZ_COMPASS);//设置所需要的传感器
if(res)return 2;
res=mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL); //设置FIFO
if(res)return 3;
res=mpu_set_sample_rate(DEFAULT_MPU_HZ); //设置采样率
if(res)return 4;
res=mpu_set_compass_sample_rate(1000/COMPASS_READ_MS); //设置磁力计采样率
if(res)return 5;
mpu_get_sample_rate(&gyro_rate);
mpu_get_gyro_fsr(&gyro_fsr);
mpu_get_accel_fsr(&accel_fsr);
mpu_get_compass_fsr(&compass_fsr);
inv_set_gyro_sample_rate(1000000L/gyro_rate);
inv_set_accel_sample_rate(1000000L/gyro_rate);
inv_set_compass_sample_rate(COMPASS_READ_MS*1000L);
inv_set_gyro_orientation_and_scale(
inv_orientation_matrix_to_scalar(gyro_orientation),(long)gyro_fsr<<15);
inv_set_accel_orientation_and_scale(
inv_orientation_matrix_to_scalar(gyro_orientation),(long)accel_fsr<<15);
inv_set_compass_orientation_and_scale(
inv_orientation_matrix_to_scalar(comp_orientation),(long)compass_fsr<<15);
res=dmp_load_motion_driver_firmware(); //加载dmp固件
if(res)return 6;
res=dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));//设置陀螺仪方向
if(res)return 7;
res=dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT|DMP_FEATURE_TAP| //设置dmp功能
DMP_FEATURE_ANDROID_ORIENT|DMP_FEATURE_SEND_RAW_ACCEL|DMP_FEATURE_SEND_CAL_GYRO|
DMP_FEATURE_GYRO_CAL);
if(res)return 8;
res=dmp_set_fifo_rate(DEFAULT_MPU_HZ); //设置DMP输出速率(最大不超过200Hz)
if(res)return 9;
res=run_self_test(); //自检
if(res)return 10;
res=mpu_set_dmp_state(1); //使能DMP
if(res)return 11;
}
return 0;
}[/mw_shl_code]
|
|
/2 
|手机版|OpenEdv-开源电子网
( 粤ICP备12000418号-1 )
发表于 2016-8-11 17:25:40
发表于 2016-8-11 17:25:41
楼主
