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資源簡介

該資源采用STM32+jy901九軸mpu9250模塊通過串口輸出角度,徹底解決Z軸漂移,就是yaw角度偏差。其中可以通過USB連線用電腦上位機(jī)查看3D姿態(tài)圖還可以通過連接HC06藍(lán)牙模塊接收角度信息,上位機(jī)文件含有。

資源截圖

代碼片段和文件信息

/*
編譯環(huán)境:MDK-Lite??Version:?5.17
測試:?本程序已在STM32Core平臺(tái)上完成測試
功能:
用STM32Core平臺(tái)串口2讀取JY901的數(shù)據(jù),然后通過串口1直接接到上位機(jī),上位機(jī)上選擇波特率115200。
用串口調(diào)試軟件看到的是16進(jìn)制數(shù)。
接線
USB-TTL工具?????????????????STM32Core??????????????JY901
VCC??????????-----???????????VCC????????----????????VCC
TX???????????-----???????????RX1??(管腳10)???
RX???????????-----???????????TX1???(管腳9)
GND??????????-----???????????GND????----????????GND
?????????????????????????????RX2?????(管腳3)??----????????TX
?TX2?????(管腳2)?----????????RX
------------------------------------
?*/
#include?
#include?
#include?“Main.h“
#include?“REG.h“
#include?“stm32f10x_rcc.h“
#include?“stm32f10x_gpio.h“
#include?“UART1.h“
#include?“UART2.h“
#include?“delay.h“
#include?“hw_config.h“
#include?“JY901.h“
#include?
#include?“math.h“

u8?status=0;
struct?STime stcTime;
struct?SAcc? stcAcc;
struct?SGyro? stcGyro;
struct?SAngle? stcAngle;
struct?SMag? stcMag;
struct?SDStatus?stcDStatus;
struct?SPress? stcPress;
struct?SLonLat? stcLonLat;
struct?SGPSV? stcGPSV;
struct?SQ???????stcQ;

u32?count=0;//按壓次數(shù)計(jì)數(shù)
u32?Key_flag;

float??x1y1z1;?
u32?x11xgexshixbaixxiaoy11ybaiyshiygeyxiaoz11zbaizshizgezxiaokshikge;
u8?XYZK[10]={‘0‘‘1‘‘2‘‘3‘‘4‘‘5‘‘6‘‘7‘‘8‘‘9‘};
//標(biāo)準(zhǔn)庫需要的支持函數(shù)?????????????????
struct?__FILE?
{?
int?handle;?

};?
??
FILE?__stdout;???????
//定義_sys_exit()以避免使用半主機(jī)模式????
void?_sys_exit(int?x)?
{?
x?=?x;?
}?
int?fputc(int?chFILE?*p)??//函數(shù)默認(rèn)的,在使用printf函數(shù)時(shí)自動(dòng)調(diào)用
{
USART_SendData(UART4(u8)ch);
while(USART_GetFlagStatus(UART4USART_FLAG_TXE)==RESET);
return?ch;
}
void?Led_Configuration(void)
{
GPIO_InitTypeDef?GPIO_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE|RCC_APB2Periph_GPIOB?ENABLE);

GPIO_InitStructure.GPIO_Pin?=?GPIO_Pin_5; ?//PE5接
GPIO_InitStructure.GPIO_Mode?=?GPIO_Mode_Out_PP; ?????//設(shè)為推挽輸出模式
GPIO_InitStructure.GPIO_Speed?=?GPIO_Speed_50MHz; ?????????
GPIO_Init(GPIOE?&GPIO_InitStructure); ?????????????????//初始化外設(shè)GPIO?
??GPIO_SetBits(GPIOEGPIO_Pin_5);

GPIO_InitStructure.GPIO_Pin?=?GPIO_Pin_5; ?//PB5接
GPIO_InitStructure.GPIO_Mode?=?GPIO_Mode_Out_PP; ?????//設(shè)為推挽輸出模式
GPIO_InitStructure.GPIO_Speed?=?GPIO_Speed_50MHz; ?????????
GPIO_Init(GPIOB?&GPIO_InitStructure); ?????????????????//初始化外設(shè)GPIO?
??GPIO_SetBits(GPIOBGPIO_Pin_5);
}

void?Key_Configuration(void)
{
GPIO_InitTypeDef?GPIO_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC?ENABLE);

GPIO_InitStructure.GPIO_Pin?=?GPIO_Pin_2; ?//PC3接
GPIO_InitStructure.GPIO_Mode?=?GPIO_Mode_IPU; ?????//
GPIO_InitStructure.GPIO_Speed?=?GPIO_Speed_50MHz; ?????????
GPIO_Init(GPIOC?&GPIO_InitStructure); ?????????????????//初始化外設(shè)GPIO?
}
void?Keyscan()
{??
if(Key_flag)
{
?delay_us(10);
?if?(GPIO_ReadInputDataBit(GPIOC?GPIO_Pin_2)?==?0)
???{
?while(GPIO_ReadInputDataBit(GPIOC?GPIO_Pin_2)?==?0){}//是否松開
?????????GPIO_WriteBit(GPIOE?GPIO_Pin_5?(BitAction)(1

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件?????127646??2019-04-11?11:16??上位機(jī)\3D\2019-04-11_111246\crash.dmp

?????文件??????37386??2019-04-11?11:16??上位機(jī)\3D\2019-04-11_111246\error.log

?????文件?????138589??2019-04-11?17:16??上位機(jī)\3D\2019-04-11_171618\crash.dmp

?????文件??????36354??2019-04-11?17:16??上位機(jī)\3D\2019-04-11_171618\error.log

?????文件?????139681??2019-04-12?10:52??上位機(jī)\3D\2019-04-12_105140\crash.dmp

?????文件??????36285??2019-04-12?10:52??上位機(jī)\3D\2019-04-12_105140\error.log

?????文件???17012224??2018-06-01?16:20??上位機(jī)\3D\run.exe

?????文件??????32716??2018-06-01?16:20??上位機(jī)\3D\run_Data\globalgamemanagers

?????文件??????32000??2018-06-01?16:20??上位機(jī)\3D\run_Data\globalgamemanagers.assets

?????文件??????83212??2018-06-01?16:20??上位機(jī)\3D\run_Data\level0

?????文件?????131232??2018-06-01?16:20??上位機(jī)\3D\run_Data\level0.resS

?????文件?????408576??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\Assembly-CSharp.dll

?????文件???????3072??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\Assembly-Unityscript.dll

?????文件?????184320??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\Mono.Posix.dll

?????文件?????294912??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\Mono.Security.dll

?????文件????2590208??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\mscorlib.dll

?????文件?????124928??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\System.Configuration.dll

?????文件?????299008??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\System.Core.dll

?????文件????1678848??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\System.dll

?????文件?????135168??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\System.Security.dll

?????文件????1270272??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\System.xml.dll

?????文件?????966656??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\UnityEngine.dll

?????文件?????352694??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\UnityEngine.dll.mdb

?????文件?????229888??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\UnityEngine.Networking.dll

?????文件?????218112??2018-06-01?16:20??上位機(jī)\3D\run_Data\Managed\UnityEngine.UI.dll

?????文件??????58196??2018-06-01?16:20??上位機(jī)\3D\run_Data\Mono\etc\mono\1.0\DefaultWsdlHelpGenerator.aspx

?????文件??????17259??2018-06-01?16:20??上位機(jī)\3D\run_Data\Mono\etc\mono\1.0\machine.config

?????文件???????1605??2018-06-01?16:20??上位機(jī)\3D\run_Data\Mono\etc\mono\2.0\Browsers\Compat.browser

?????文件??????60453??2018-06-01?16:20??上位機(jī)\3D\run_Data\Mono\etc\mono\2.0\DefaultWsdlHelpGenerator.aspx

?????文件??????27626??2018-06-01?16:20??上位機(jī)\3D\run_Data\Mono\etc\mono\2.0\machine.config

............此處省略374個(gè)文件信息

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