IMU资料.zip_IMU_IMU资料_书籍源码下载-pudn.com

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/625a88bebe9ad24cfaeb9f55/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/625a88bebe9ad24cfaeb9f55/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">M</div><div class="t m0 x2 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">in I</div><div class="t m0 x3 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">Mi U</div><div class="t m1 x4 h3 y4 ff1 fs1 fc1 sc0 ls0 ws0">Mini IMU AHRS 使用说明</div><div class="t m2 x5 h4 y5 ff3 fs3 fc1 sc0 ls0 ws0">本章旨在说明MiniIMU姿态仪的功能和使用方法</div><div class="t m2 x5 h4 y6 ff1 fs3 fc1 sc0 ls0 ws0">1.MiniIMU的硬件组成和接口定义</div><div class="t m2 x5 h4 y7 ff1 fs3 fc1 sc0 ls0 ws0">2.MiniIMU的性能</div><div class="t m2 x5 h4 y8 ff1 fs3 fc1 sc0 ls0 ws0">3.如何使用电脑软件与MiniIMU联机</div><div class="t m2 x5 h4 y9 ff1 fs3 fc1 sc0 ls0 ws0">4.注意事项</div></div><div class="pi" data-data='{"ctm":[1.611850,0.000000,0.000000,1.611850,0.000000,0.000000]}'></div></div> </body> </html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/625a88bebe9ad24cfaeb9f55/bg2.jpg"><div class="t m1 x6 h5 ya ff1 fs1 fc0 sc0 ls0 ws0">MEMS</div><div class="t m1 x7 h6 yb ff2 fs4 fc0 sc0 ls0 ws0">三轴加速度</div><div class="t m1 x6 h5 yc ff1 fs1 fc0 sc0 ls0 ws0">MEMS</div><div class="t m1 x7 h6 yd ff2 fs4 fc0 sc0 ls0 ws0">三轴角速率</div><div class="t m1 x6 h5 ye ff1 fs1 fc0 sc0 ls0 ws0">MEMS</div><div class="t m1 x7 h6 yf ff2 fs4 fc0 sc0 ls0 ws0">三轴磁力计</div><div class="t m1 x8 h7 y10 ff2 fs1 fc0 sc0 ls0 ws0">气压高度计</div><div class="t m1 x9 h7 y11 ff2 fs1 fc1 sc0 ls0 ws0">姿态解算</div><div class="t m1 xa h5 y12 ff1 fs1 fc1 sc0 ls0 ws0">AHRS</div><div class="t m1 xb h7 y13 ff2 fs1 fc1 sc0 ls0 ws0">四元数</div><div class="t m1 xc h7 y14 ff2 fs1 fc0 sc0 ls0 ws0">传感器驱动</div><div class="t m1 xd h7 y15 ff2 fs1 fc0 sc0 ls0 ws0">俯仰</div><div class="t m1 xd h7 y16 ff2 fs1 fc0 sc0 ls0 ws0">横滚</div><div class="t m1 xd h7 y17 ff2 fs1 fc0 sc0 ls0 ws0">航向</div><div class="t m1 xd h7 y18 ff2 fs1 fc0 sc0 ls0 ws0">高度</div><div class="t m1 xd h7 y19 ff2 fs1 fc0 sc0 ls0 ws0">温度</div><div class="t m1 xe h8 y1a ff4 fs1 fc0 sc0 ls0 ws0">STM32F103</div><div class="t m1 xf h7 y1b ff4 fs1 fc2 sc0 ls0 ws0">Mini IMU AHRS 应用框图</div></div><div class="pi" data-data='{"ctm":[1.611850,0.000000,0.000000,1.611850,0.000000,0.000000]}'></div></div>

<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/625a88bebe9ad24cfaeb9f55/bg3.jpg"><div class="t m1 x10 h7 y1c ff2 fs1 fc0 sc0 ls0 ws0">硬件篇</div><div class="t m1 x11 h9 y1d ff4 fs5 fc3 sc0 ls0 ws0">SDA</div><div class="t m1 x12 h9 y1e ff4 fs5 fc1 sc0 ls0 ws0">SCL</div><div class="t m1 x13 h9 y1f ff4 fs6 fc2 sc0 ls0 ws0">3.3VVDD</div><div class="t m1 x14 ha y20 ff1 fs7 fc0 sc0 ls0 ws0">MPU6050</div><div class="t m1 x15 hb y21 ff1 fs8 fc0 sc0 ls0 ws0">HMC5883</div><div class="t m1 x16 hc y22 ff1 fs9 fc0 sc0 ls0 ws0">BMP085</div><div class="t m1 x17 hd y23 ff1 fsa fc0 sc0 ls0 ws0">STM32F</div><div class="t m1 x17 hd y24 ff1 fsa fc0 sc0 ls0 ws0">103T8</div><div class="t m3 x18 he y25 ff4 fsb fc1 sc0 ls0 ws0">4</div><div class="t m3 x18 hf y26 ff3 fsb fc1 sc0 ls0 ws0">.</div><div class="t m3 x18 he y27 ff4 fsb fc1 sc0 ls0 ws0">7</div><div class="t m3 x18 he y28 ff4 fsb fc1 sc0 ls0 ws0">Kx</div><div class="t m3 x18 he y29 ff4 fsb fc1 sc0 ls0 ws0">2</div><div class="t m1 x14 h10 y2a ff2 fsc fc0 sc0 ls0 ws0">3轴陀螺仪</div><div class="t m1 x14 h10 y2b ff2 fsc fc0 sc0 ls0 ws0">3轴加速器</div><div class="t m1 x19 h11 y2c ff2 fsd fc0 sc0 ls0 ws0">3轴</div><div class="t m1 x19 h11 y2d ff2 fsd fc0 sc0 ls0 ws0">地磁传感器</div><div class="t m1 x1a h12 y2e ff2 fse fc0 sc0 ls0 ws0">气压高度计</div><div class="t m1 x1b h13 y2f ff1 fsf fc1 sc0 ls0 ws0">UART数据输出</div><div class="t m1 x1b h13 y30 ff1 fsf fc1 sc0 ls0 ws0">SWD调试接口</div><div class="t m1 x1b h13 y31 ff1 fsf fc1 sc0 ls0 ws0">LED状态指示</div><div class="t m1 x1c h14 y32 ff5 fs10 fc0 sc0 ls0 ws0">1</div><div class="t m1 x1d h8 y33 ff4 fs1 fc2 sc0 ls0 ws0">STM32F103</div><div class="t m1 x1e h15 y34 ff1 fs4 fc2 sc0 ls0 ws0">MiniIMU 的主控制芯片选用了STM32F103T8，ARM 32-bit Cortex™-M3 内</div><div class="t m1 x1f h15 y35 ff3 fs4 fc2 sc0 ls0 ws0">核，它有64KB的闪存存储器，和20KB的运行内存。7通道的DMA，7个定时器，</div><div class="t m1 x1f h15 y36 ff3 fs4 fc2 sc0 ls0 ws0">通过板子上的8M晶体和STM32内部的PLL，控制器可以运行在72M的主频上，对</div><div class="t m1 x1f h15 y37 ff3 fs4 fc2 sc0 ls0 ws0">于姿态解算这种需要大量数学运行的程序，更快的处理速度可以做更多的解算</div><div class="t m1 x1f h15 y38 ff3 fs4 fc2 sc0 ls0 ws0">优化。</div><div class="t m1 x1e h15 y39 ff1 fs4 fc2 sc0 ls0 ws0">MiniIMU 上的传感器通过I2C接口与STM32F连接，同时传感器的数据中断引</div><div class="t m1 x1f h15 y3a ff3 fs4 fc2 sc0 ls0 ws0">脚与STM32F的IO相连。使得传感器在完成ADC轮换后，STM32F在第一时间读取</div><div class="t m1 x1f h15 y3b ff3 fs4 fc2 sc0 ls0 ws0">最新的数据，快速响应姿态的变化。这样的连接使得控制器拥有最大的主动</div><div class="t m1 x1f h15 y3c ff3 fs4 fc2 sc0 ls0 ws0">权，最快地获取各传感器的状态和转换结果。</div><div class="t m1 x1e h15 y3d ff1 fs4 fc2 sc0 ls0 ws0">MiniIMU引出了STM32单片机的两个串行通信口：</div><div class="t m1 x1f h15 y3e ff1 fs4 fc2 sc0 ls0 ws0">1.UART1 做为从的连接端口</div><div class="t m1 x1f h15 y3f ff1 fs4 fc2 sc0 ls0 ws0">2.UART2 做为主的数据输出接口</div><div class="t m1 x1f h15 y40 ff3 fs4 fc2 sc0 ls0 ws0">两个串行接口都有独立的发送和接收共用的可编程波特率,最高达4.5Mbits/s。</div><div class="t m1 x1f h15 y41 ff3 fs4 fc2 sc0 ls0 ws0">在使用使用多缓冲器配置的DMA方式，可以实现高速数据通信.</div><div class="t m1 x1f h15 y42 ff1 fs4 fc2 sc0 ls0 ws0">UART1可以用于连接一个外部GPS，扩展更多的功能。</div><div class="t m1 x1f h15 y43 ff1 fs4 fc2 sc0 ls0 ws0">UART2 用于发送解算后的姿态数据。</div><div class="t m1 x1e h6 y44 ff2 fs4 fc2 sc0 ls0 ws0">MiniIUM引出了STM32F的SWD调试接口。SWD接口只需要四条线就可以连接</div><div class="t m1 x1f h6 y45 ff2 fs4 fc2 sc0 ls0 ws0">STM32F的内核进行仿真调试。</div><div class="t m1 x1f h16 y46 ff2 fs3 fc4 sc0 ls0 ws0">通信能力：</div><div class="t m1 x1f h16 y47 ff2 fs3 fc4 sc0 ls0 ws0">SWD调试</div></div><div class="pi" data-data='{"ctm":[1.611850,0.000000,0.000000,1.611850,0.000000,0.000000]}'></div></div>