士兰微SC7I22六轴陀螺仪规格书和驱动资料

#include "SC7122.h" uint8_t imu_data[12]; void sc7122_init() { // iic_start_send_1byte(IMU_IIR_ADR,0x4a,0xa5,NULL,NULL); // delay_ms(1); gyroStatus = GYRO_INITFAIL; uint8_t temp; uint8_t i = 0; do { temp = 0x00; iic_start_read_bytes(IMU_IIR_ADR,WHO_AM_I_REG,&temp,1,NULL,NULL); delay_ms(1); if (temp == WHO_AM_I_VAL) { gyroStatus = GYRO_INITOK; break; } } while(i++ < GYRO_VERIFY_ID_REPEAT_TIMES); iic_start_send_1byte(IMU_IIR_ADR,0x7d,0x0e,NULL,NULL);//使能陀螺仪和加速度计 delay_ms(100); iic_start_send_1byte(IMU_IIR_ADR,0x08,0x80|0x07,NULL,NULL);//LPF delay_ms(1); // iic_start_send_1byte(IMU_IIR_ADR,0x3a,0x08,NULL,NULL);//抗马达 // delay_ms(1); iic_start_send_1byte(IMU_IIR_ADR,ACC_RANGE_REG,ACC_RANGE_SEL,NULL,NULL);//+-16g delay_ms(1); iic_start_send_1byte(IMU_IIR_ADR,GYRO_RANGE_REG,GYRO_RANGE_SEL,NULL,NULL);//+-2000dps delay_ms(1); iic_start_send_1byte(IMU_IIR_ADR,ACC_CONF,ACC_HIGH|ACC_AVE1|ACC_400HZ,NULL,NULL);//ACC,SAMPFRE,1AVE delay_ms(1); iic_start_send_1byte(IMU_IIR_ADR,GYRO_CONF,GYRO_HIGH|GYRO_AVE4|GYRO_800HZ|GYRO_NOISE,NULL,NULL);//GYRO,SAMPFRE,4AVE,noise delay_ms(1); } void sc7122_start_read(void(*callback_handler)(void)) { iic_start_read_bytes(IMU_IIR_ADR,0x0c,&imu_data[0],12,callback_handler,NULL); } void get_acc_gyro_raw_SC7112(void) { int16_t acc[XYZ]; int16_t gyro[XYZ]; w_data_ptr ++; if (w_data_ptr >= IMU_BUF_SIZE) w_data_ptr = 0; acc[X] = (imu_data[0]<<8) + imu_data[1]; acc[Y] = (imu_data[2]<<8) + imu_data[3]; acc[Z] = (imu_data[4]<<8) + imu_data[5]; gyro[X] = (imu_data[6]<<8) + imu_data[7]; gyro[Y] = (imu_data[8]<<8) + imu_data[9]; gyro[Z] = (imu_data[10]<<8) + imu_data[11]; }