很全的Leadiy-M3C陀螺仪资料与STM32源程序 -

/*********************************
LEADIY-M3测试程序示例V2.2
作者: Colin
版权所有: 深圳市软芯微电子科技有限公司
芯片型号: stm32f103CB
*************************************/
#include "string.h"
#include "stm32f10x.h"
#include "sys.h"
#include "usart.h"
#include "delay.h"
#include "drv_Uart.h"
int16_t Gyro[3], Acc[3], Angle[3], Mag[3];
int32_t Altitude, Pressure;
float Temper, GyroDPS[3], AccG[3], MagGauss[3], AngleDeg[3];
/*读两个字节组成一个16位数*/
int16_t ReadW(void)
{
unsigned char BufC;
int16_t BufW;
BufC = uartRead();
BufW = (uint16_t)BufC;
BufC = uartRead();
BufW = (int16_t)(((uint16_t)BufC << 8) | BufW);
return BufW;
}
int main(void)
{
unsigned char BufC;
uint16_t BufW;
/* 系统初始化*/
systemInit();
delay_ms(300);
printf("LEADIY-M3 TEST V2\r\n");
while (1)
{
if(uartAvailable()) //检测是否收到LEADIY-M3数据
{
BufC = uartRead(); //读一个字节
if((BufC==0xA7)){ //判断是否为帧头
BufC = uartRead(); //读一个字节
if (BufC==0x7A) { //判断是否为帧头
BufC = uartRead(); //读一个字节
switch(BufC) //帧类型判断
{
case 0x70: //标识为角速度帧
BufC = uartRead(); //帧长度，可不用
BufC = uartRead(); //效验位
Gyro[0] = ReadW(); //X轴
Gyro[1] = ReadW(); //Y轴
Gyro[2] = ReadW(); //Z轴
/*GYRO的量程为2000度每秒*/
/* 得到以"dps" ("度/秒")为单位的角速度值*/
GyroDPS[0] = (float)Gyro[0]*4/16.4;
GyroDPS[1] = (float)Gyro[1]*4/16.4;
GyroDPS[2] = (float)Gyro[2]*4/16.4;
printf("GYRO X：%d Y：%d Z：%d\r\n", Gyro[0], Gyro[1], Gyro[2]);
printf("GyroDPS X: %.2f, Y: %.2f, Z: %.2f\r\n", GyroDPS[0], GyroDPS[1], GyroDPS[2]);
break;
case 0x71: //标识为加速度帧
BufC = uartRead(); //帧长度，可不用
BufC = uartRead(); //效验位
Acc[0] = ReadW(); //X轴
Acc[1] = ReadW(); //Y轴
Acc[2] = ReadW(); //Z轴
/*ACC的量程为8G*/
/*得到以"g"为单位的加速度*/
AccG[0] = (float)Acc[0] / 4096;
AccG[1] = (float)Acc[1] / 4096;
AccG[2] = (float)Acc[2] / 4096;
printf("ACC X：%d Y：%d Z：%d\r\n", Acc[0], Acc[1], Acc[2]);
printf("AccG X：%.2f Y：%.2f Z：%.2f\r\n", AccG[0], AccG[1], AccG[2]);
break;
case 0x72: //标识为姿态帧
BufC = uartRead(); //帧长度，可不用
BufC = uartRead(); //效验位
Angle[0] = ReadW(); //X轴角度(横滚)
Angle[1] = ReadW(); //Y轴角度(俯仰)
Angle[2] = ReadW(); //Z轴角度(偏航)
AngleDeg[0] = (float)Angle[0] / 100;
AngleDeg[1] = (float)Angle[1] / 100;
AngleDeg[2] = (float)Angle[2] / 100;
if (AngleDeg[2]<0) AngleDeg[2] += 360; //将航向值转化到0---360度区间
printf("ANGLE X：%d Y：%d Z：%d \r\n", Angle[0], Angle[1], Angle[2]);
printf("AngleDeg X：%.2f Y：%.2f Z：%.2f \r\n", AngleDeg[0], AngleDeg[1], AngleDeg[2]);
break;
case 0x73: //标识为地磁帧
BufC = uartRead(); //帧长度，可不用
BufC = uartRead(); //效验位
Mag[0] = ReadW(); //X轴
Mag[1] = ReadW(); //Y轴
Mag[2] = ReadW(); //Z轴
/*地磁设置为2.5Ga*/
/*得到以"Gauss"为单位的地磁*/
MagGauss[0] = (float)Mag[0] / 660;
MagGauss[1] = (float)Mag[1] / 660;
MagGauss[2] = (float)Mag[2] / 660;
printf("Mag X：%d Y：%d Z：%d \r\n", Mag[0], Mag[1], Mag[2]);
printf("MagGauss X：%.2f Y：%.2f Z：%.2f \r\n", MagGauss[0], MagGauss[1], MagGauss[2]);
break;
case 0x74: //标识为温度、气压帧
BufC = uartRead(); //帧长度，可不用
BufC = uartRead(); //效验位
Temper = ReadW() / 10; //X轴
BufW = ReadW(); //气压低16位
Pressure = (int32_t)(((uint32_t)(ReadW() << 16))|BufW);
printf("Temperature(Degree)：%.2f Pressure(Pa)：%d \r\n", Temper, Pressure);
break;
case 0x75: // 标识为高度帧
BufC = uartRead(); //帧长度，可不用
BufC = uartRead(); //效验位
BufW = ReadW(); //高度低16位
/*得到以"CM"为单位的海拔高度*/
Altitude = (int32_t)(((uint32_t)(ReadW() << 16))|BufW);
printf("Altitude(cm)：%d \r\n", Altitude);
break;
default: break;
}
}
}
}
}
}

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