维特JY60陀螺仪的姿态角输出

1.模块集成高精度的陀螺仪、加速度计，采用高性能的微处理器和先进的动力学解算与卡尔曼动态滤波算法，能够快速求解出模块当前的实时运动姿态。

2.采用先进的数字滤波技术，能有效降低测量噪声，提高测量精度。

3.模块内部集成了姿态解算器，配合动态卡尔曼滤波算法，能够在动态环境下准确输出模块的当前姿态，姿态测量精度0.2°，稳定性极高，性能甚至优于某些专业的倾角仪。

本文相关指令参考该网址协议书

基于江科大教程：”9-3 串口收发HEX数据包“ 改写，增添部分如下

 Serial.c

#include "stm32f10x.h"                  // Device header
#include <stdio.h>
#include <stdarg.h>

uint8_t z_reset[3]={0xFF,0xAA,0x52};		//0xFF,0xAA,0x52
//uint8_t Vertical_installafion[3]={0xFF,0xAA,0x66};
uint8_t Serial_RxPacket[6];
uint8_t Serial_RxFlag;

void Serial_Init(void)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	USART_InitTypeDef USART_InitStructure;
	USART_InitStructure.USART_BaudRate = 9600;
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
	USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
	USART_InitStructure.USART_Parity = USART_Parity_No;
	USART_InitStructure.USART_StopBits = USART_StopBits_1;
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;
	USART_Init(USART1, &USART_InitStructure);
	
	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
	
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	
	NVIC_InitTypeDef NVIC_InitStructure;
	NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
	NVIC_Init(&NVIC_InitStructure);
	
	USART_Cmd(USART1, ENABLE);
}

void Serial_SendByte(uint8_t Byte)
{
	USART_SendData(USART1, Byte);
	while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
}

void Serial_SendArray(uint8_t *Array, uint16_t Length)
{
	uint16_t i;
	for (i = 0; i < Length; i ++)
	{
		Serial_SendByte(Array[i]);
	}
}

void Serial_SendString(char *String)
{
	uint8_t i;
	for (i = 0; String[i] != '\0'; i ++)
	{
		Serial_SendByte(String[i]);
	}
}

uint32_t Serial_Pow(uint32_t X, uint32_t Y)
{
	uint32_t Result = 1;
	while (Y --)
	{
		Result *= X;
	}
	return Result;
}

void Serial_SendNumber(uint32_t Number, uint8_t Length)
{
	uint8_t i;
	for (i = 0; i < Length; i ++)
	{
		Serial_SendByte(Number / Serial_Pow(10, Length - i - 1) % 10 + '0');
	}
}

int fputc(int ch, FILE *f)
{
	Serial_SendByte(ch);
	return ch;
}

void Serial_Printf(char *format, ...)
{
	char String[100];
	va_list arg;
	va_start(arg, format);
	vsprintf(String, format, arg);
	va_end(arg);
	Serial_SendString(String);
}


//void Serial_SendPacket(void)
//{

//	Serial_SendArray(Serial_TxPacket, 3);

//}

uint8_t Serial_GetRxFlag(void)
{
	if (Serial_RxFlag == 1)
	{
		Serial_RxFlag = 0;
		return 1;
	}
	return 0;
}

void USART1_IRQHandler(void)//receive
{
	static uint8_t RxState = 0;
	static uint8_t pRxPacket = 0;
	if (USART_GetITStatus(USART1, USART_IT_RXNE) == SET)
	{
		uint8_t RxData = USART_ReceiveData(USART1);
		
		if (RxState == 0)
		{
			if (RxData == 0x53)
			{
				RxState = 1;
				pRxPacket = 0;
			}
		}
		else if (RxState == 1)
		{
			Serial_RxPacket[pRxPacket] = RxData;
			pRxPacket ++;
			if (pRxPacket >= 6)
			{
				RxState = 2;
			}
		}
		else if (RxState == 2)
		{
			if (RxData == 0x55)
			{
				RxState = 0;
				Serial_RxFlag = 1;
			}
		}
		USART_ClearITPendingBit(USART1, USART_IT_RXNE);
	}
}

 Serial.h

#ifndef __SERIAL_H
#define __SERIAL_H

#include <stdio.h>

extern uint8_t Serial_TxPacket[];
extern uint8_t Serial_RxPacket[];
extern uint8_t z_reset[];
extern uint8_t Vertical_installafion[];

void Serial_Init(void);
void Serial_SendByte(uint8_t Byte);
void Serial_SendArray(uint8_t *Array, uint16_t Length);
void Serial_SendString(char *String);
void Serial_SendNumber(uint32_t Number, uint8_t Length);
void Serial_Printf(char *format, ...);

void Serial_SendPacket(void);
uint8_t Serial_GetRxFlag(void);

#endif

main.c

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "Serial.h"
#include "Key.h"

uint8_t KeyNum;
float Roll,Pitch,Yaw;

int main(void)
{
	OLED_Init();
	Key_Init();
	Serial_Init();
	


	while (1)
	{
		KeyNum = Key_GetNum();
		if (KeyNum == 1)
		{
		Serial_SendArray(z_reset, 3);
//		Serial_SendArray(Vertical_installafion, 3);
		}
		
		if (Serial_GetRxFlag() == 1)
		{
//			OLED_ShowHexNum(2, 1, Serial_RxPacket[0], 2);
//			OLED_ShowHexNum(2, 4, Serial_RxPacket[1], 2);
//			OLED_ShowHexNum(2, 7, Serial_RxPacket[2], 2);
//			OLED_ShowHexNum(2, 10, Serial_RxPacket[3], 2);
			Roll=Serial_RxPacket[1]<<8|Serial_RxPacket[0];
			Pitch=Serial_RxPacket[3]<<8|Serial_RxPacket[2];
			Yaw=Serial_RxPacket[5]<<8|Serial_RxPacket[4];
			OLED_ShowNum(1, 1, Roll/32768*180, 3);
			OLED_ShowNum(1, 5, Pitch/32768*180, 3);
			OLED_ShowNum(1, 9, Yaw/32768*180, 3);
			
		}
	}
}

我还添加了Z轴归零操作（B1接地）