加速度磁力計(jì)-wenkub.com
2025-07-22 10:43 本頁面
【正文】 if (HeadingValue 0) { HeadingValue = HeadingValue + 360。以順時(shí)針方向?yàn)檎嵌取? } if (PitchAng =360) { PitchAng = PitchAng 360。 } else { PitchAng = acos(fCosPitch)*180/PI + 180。 } else { RollAng = acos(fCosRoll)*180/PI + 180。 /* 余弦 CosRoll=根號(hào)下（1sinRoll*sinRoll）*/ fCosRoll = sqrt((fSinRoll * fSinRoll))。i3。 } } /* Obtain the mg value for the three axis */ /* 轉(zhuǎn)換為格式的數(shù)據(jù)除以量程*/ for(i=0。 case LSM303DLHC_FULLSCALE_8G: LSM_Acc_Sensitivity = LSM_Acc_Sensitivity_8g。 0x30) { case LSM303DLHC_FULLSCALE_2G: LSM_Acc_Sensitivity = LSM_Acc_Sensitivity_2g。 } /* Read the register content */ LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG4_A, ctrlx,2)。 i++) { pnRawData[i]=((int16_t)((uint16_t)buffer[2*i+1] 8) + buffer[2*i])/cDivider。 //小端 /* check in the control register4 the data alignment*/ /*從寄存器讀出的數(shù)據(jù)按照大小端格式進(jìn)行數(shù)據(jù)轉(zhuǎn)換*/ if(!(ctrlx[0] amp。 LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_X_L_A, buffer, 6)。 uint8_t buffer[6], cDivider。 } pfData[2]=(float)((int16_t)(((uint16_t)buffer[4] 8) + buffer[5])*1000)/Magn_Sensitivity_Z。//數(shù)值205 break。//數(shù)值330 Magn_Sensitivity_Z = LSM303DLHC_M_SENSITIVITY_Z_5_6Ga。 case LSM303DLHC_FS_4_7_GA: Magn_Sensitivity_XY = LSM303DLHC_M_SENSITIVITY_XY_4_7Ga。 //數(shù)值600 break。//數(shù)值855 Magn_Sensitivity_Z = LSM303DLHC_M_SENSITIVITY_Z_1_9Ga。 0xE0) { case LSM303DLHC_FS_1_3_GA: /*! magnetometer X Y axes sensitivity for Ga full scale [LSB/Ga] */ Magn_Sensitivity_XY = LSM303DLHC_M_SENSITIVITY_XY_1_3Ga。 LSM303DLHC_Read(MAG_I2C_ADDRESS, LSM303DLHC_OUT_Y_L_M, buffer+3, 1)。CTRLB, 1)。 uint8_t CTRLB = 0。 } /* Clear STOPF flag */ I2C_ClearFlag(LSM303DLHC_I2C, I2C_ICR_STOPCF)。 while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_TXIS) == RESET) { if((LSM303DLHC_Timeout) == 0) return LSM303DLHC_TIMEOUT_UserCallback()。 /* Wait until TCR flag is set */ LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT。 } /* Configure slave address, nbytes, reload, end mode and start or stop generation */ I2C_TransferHandling(LSM303DLHC_I2C, DeviceAddr, 1, I2C_Reload_Mode, I2C_Generate_Start_Write)。 } /* Clear STOPF flag */ I2C_ClearFlag(LSM303DLHC_I2C, I2C_ICR_STOPCF)。 /* Point to the next location where the byte read will be saved */ pBuffer++。 } /* Configure slave address, nbytes, reload, end mode and start or stop generation */ I2C_TransferHandling(LSM303DLHC_I2C, DeviceAddr, NumByteToRead, I2C_AutoEnd_Mode, I2C_Generate_Start_Read)。 } if(NumByteToRead1) RegAddr |= 0x80。 while(I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_BUSY) != RESET) { if((LSM303DLHC_Timeout) == 0) return LSM303DLHC_TIMEOUT_UserCallback()。 //配置值0x00 = LSM303DLHC_HPF_AOI2_DISABLE。ctrl4)。 ctrl4 |= (uint8_t) (LSM303DLHC_InitStructBlockData_Update | LSM303DLHC_InitStructEndianness | \ LSM303DLHC_InitStructAccFull_Scale|LSM303DLHC_InitStructHigh_Resolution)。 //配置值0x00 =LSM303DLHC_BLE_LSB。 //配置值0x00 = LSM303DLHC_ODR_50_HZ。 /* Write value to Mag MEMS MR_REG regsister */ LSM303DLHC_Write(MAG_I2C_ADDR
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