Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names
MPU6050+原始数据读取+DMP读取+stm32f4+HAL库
需积分: 0 106 浏览量
更新于2023-01-30
11
收藏 15.51MB ZIP 举报
MPU6050是一款由InvenSense公司生产的六轴惯性测量单元(IMU),集成了三轴陀螺仪和三轴加速度计。它能够检测设备在三维空间中的旋转角速度和线性加速度,广泛应用于无人机、机器人、智能手机和其他需要姿态感知的设备中。本项目涉及到的是如何通过STM32F4微控制器利用HAL库来读取MPU6050的原始数据以及通过数字运动处理(DMP)功能获取更高级别的姿态数据。
STM32F4是意法半导体(STMicroelectronics)生产的一款基于ARM Cortex-M4内核的微控制器,具有高性能、低功耗的特点。其强大的计算能力使得它非常适合处理传感器数据和实时控制任务。HAL库(Hardware Abstraction Layer,硬件抽象层)是STM32官方提供的一个软件框架,它提供了一组统一的API,使得开发者可以更容易地跨不同系列的STM32芯片进行编程。
在MPU6050的原始数据读取中,首先需要初始化I2C通信接口,因为MPU6050就是通过I2C总线与STM32进行通信的。这包括配置GPIO引脚为I2C模式,设置I2C时钟,以及将STM32作为I2C主设备。然后,可以通过I2C发送特定的寄存器地址读取或写入数据。例如,要读取陀螺仪和加速度计的数据,需要读取陀螺仪数据输出寄存器(0x43到0x46)和加速度计数据输出寄存器(0x3B到0x3E)。这些数据经过校准和转换后,可以得到实际的角速度和加速度值。
DMP(Digital Motion Processing)是MPU6050的一个重要特性,它可以处理传感器原始数据,执行复杂的运动算法,比如姿态融合、滤波等,从而提供更准确的姿态估计。启用DMP需要向MPU6050内部的闪存加载预编译的固件,并配置相应的寄存器。通过DMP,我们可以获取到直接的四元数或欧拉角输出,这些数据对于理解物体的实时姿态非常有用。
在STM32F4上使用HAL库实现DMP读取,首先需要配置中断,当DMP有新数据可用时,STM32会接收到中断信号。然后,设置DMP的数据输出速率,以及定义如何处理接收到的数据。DMP数据通常是通过中断服务程序(ISR)来读取的,每次中断发生时,都会从MPU6050的FIFO缓冲区中读取数据并进行解码。
这个项目涵盖了嵌入式系统开发中的多个关键知识点:STM32F4微控制器的使用、HAL库的API应用、I2C通信协议的实现,以及MPU6050传感器的原始数据和DMP数据读取。通过深入理解这些内容,开发者可以构建出能够实时监控和解析物体运动状态的高性能系统。在实际应用中,可能还需要考虑电源管理、抗干扰措施、数据融合算法优化等问题,以提升系统的稳定性和精度。
白恩浩
- 粉丝: 7
- 资源: 1
最新资源
- 05-【培训签到】03-新员工入职培训签到表.xls
- 07-【培训考试】06-新员工安全培训试题及答案.xls
- 09-【确认书】02-新员工培训确认表.xls
- 08-【考核管理】11-培训分析表.xls
- 01-【培训计划】02-新员工入职培训计划表.xlsx
- 01-【培训计划】07-新员工入职培训计划表.xlsx
- 01-【培训计划】08-新员工入职培训计划表-模板.xlsx
- 01-【培训计划】04-新人入职培训计划实施表.xlsx
- 09-【确认书】05-新员工入职培训确认表.xls
- 01-【培训计划】03-新员工入职培训计划表.xlsx
- 01-【培训计划】09-新员工入职培训计划表.xlsx
- 01-【培训计划】21-新员工培训课程表.xlsx
- 01-【培训计划】11-新员工入职培训计划表.xlsx
- 06-【培训手册】01-员工培训手册内容清单.xlsx
- 08-【考核管理】09-新入职员工培训成绩考核统计表.xlsx
- 05-【培训签到】07-新员工培训签到表.xlsx