基于stm32f407zg+mpu9250通过官方DMP库串口输出角度，本人项目用到陀螺仪，借鉴了众多前辈的源码，现在开放自己做项目过程中的源码
单片机源程序如下:
- #include "stm32f4xx.h"
- #include "inv_mpu_dmp_motion_driver.h"
- #include "inv_mpu.h"
- #include "math.h"
- #include "usart.h"
- #include "stm32_iic.h"
- #include "stdio.h"
- #include "mpu_user_api.h"
- int main(void)
- {
- USART1_Config(); //串口初始化
- i2cInit(); //IIC总线的初始化
- delay_ms(10);
- Mpu_Init(1);
- while(1)
- {
-
- Update_attitude_Angle();
- printf("Pitch:");
- printf("%f \n",Pitch);
- printf("Roll:");
- printf("%f \n",Roll);
- printf("Yaw:");
- printf("%f \n",Yaw);
-
-
- Update_Magnetometer();
- printf("M:%d \n",Direction);
- }
- }
所有资料51hei提供下载:
MPU9250_F4.7z
(406.93 KB, 下载次数: 99)
|
