SparkFun 9DOF Razor IMU 和 SparkFun 9DOF传感器棒 的 AHRS 固件_设计_文档_相关

Razor AHRS v1.4.2 --- **9 Degree of Measurement Attitude and Heading Reference System** for Sparkfun *9DOF Razor IMU* (SEN-10125 and SEN-10736) and SparkFun *9DOF Sensor Stick* (SEN-10183, SEN-10321 and SEN-10724) Infos, updates, bug reports, contributions and feedback: https://github.com/ptrbrtz/razor-9dof-ahrs Download --- Clone the [repository on GitHub](https://github.com/ptrbrtz/razor-9dof-ahrs) or [download as .zip](https://github.com/ptrbrtz/razor-9dof-ahrs/archive/Release-v1.4.2.zip). Tutorial --- You find a [detailed tutorial in the Wiki](https://github.com/ptrbrtz/razor-9dof-ahrs/wiki/Tutorial). Quick setup --- ### Razor AHRS Firmware and *Processing* Test Sketch Select your hardware in `Arduino/Razor_AHRS/Razor_AHRS.ino` under `"USER SETUP AREA"` / `"HARDWARE OPTIONS"`. Upload the firmware using *Arduino*. Run `Processing/Razor_AHRS_test/Razor_AHRS_test.pde` using *Processing*. ### Optional: Mac OS X / Unix / Linux C++ Interface Compile test program: g++ Example.cpp RazorAHRS.cpp -Wall -D_REENTRANT -lpthread -o example Run it: ./example Sorry, no Windows support. But you could try to compile using cygwin. ### Optional: Android Interface About Razor AHRS and Android Bluetooth: Bluetooth seems to be even more picky on Android than it is anyway. Be sure to have a look at the section about Android Bluetooth in the [tutorial](https://github.com/ptrbrtz/razor-9dof-ahrs/wiki/Tutorial). Compiling and running the test app: Open up your Android-ready *Eclipse* and import both projects using `File` → `Import...` → `General` → `Existing Projects into Workspace` with the root folder being `Android/`. Then build and run the test app from *Eclipse*. Building your own app: * Your app needs to target Android 2.0 (API Level 5) or later. The RazorAHRS *Library Project* has to be present in your Workspace. Add the library to your app under `Project Properties` → `Android` → `Library`. * In case you want yaw/heading to reference "true north" and not just magnetic north, you can use the included `DeclinationHelper` class to find out about declination at your current position. * You have to specify these uses-permissions in the AndroidManifest.xml: `android.permission.BLUETOOTH` and `android.permission.BLUETOOTH_ADMIN` * If you want to use the DeclinationHelper class you also need: `android.permission.ACCESS_FINE_LOCATION` and `android.permission.ACCESS_COARSE_LOCATION` Donation --- If the code and the tutorial helped you and you'd like to buy me a beer to say thanks, I'll be happy and say cheers! PayPal: [](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=KNQHN837SKX8Q)