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迷你实时姿态显示

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<div class="document"> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">1、项目功能介绍</h3> <hr class="horizontal-splitline normal-bold-2"><p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="color:#000000;font-size:14px;">基于N32G430C8L7+INA199制作的采集姿态数据并将其转化成模块的实时姿态并显示在 OLED上。</span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="color:#000000;font-size:14px;">主要分为以下几个部分,上位机,主控制器N32G430C8L7,MPU6050 传感器,OLED 显示模块几个部分,旨在使用MPU6050 传感器采集原始的加速度与陀螺仪加速度,N32G430 接收到数据后换算成模块的姿态,使用OLED 以及上位机显示出来。</span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">2、项目属性</h3> <hr class="horizontal-splitline normal-bold-2"><p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">首次公开。</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">3、开源协议</h3> <hr class="horizontal-splitline normal-bold-2"><p><span style="color:#95a5a6;font-size:14px;"><span style="color:#000000;">GPL3.0开源协议</span></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">4、硬件部分</h3> <hr class="horizontal-splitline normal-bold-2"><p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="color:#000000;font-size:14px;">使用N32G430:</span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><span style="color:#000000;font-size:14px;">N32G430系列采用32-bit ARM Cortex-M4f内核,最高工作主频128MHz,支持浮点运算和DSP指令,集成高达64KB嵌入式加密Flash,16KB SRAM,集成丰富的高性能模拟器件,内置一个12bit 4.7M sps ADC,3个高速比较器,集成多路U(S)ART、i2C、SPI、CAN等数字通信接口。N32G430C8L7 微控制器产品可稳定工作于-40°C 至+105°C 的温度范围,供电电压2.4V至3.6V,提供多种功耗模式供用。</span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">使用MPU6050:</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">MPU6050 是 InvenSense 公司推出的全球首款整合性 6 轴运动处理组件,相较于多组件方案,免除了组合陀螺仪与加速器时之轴间差的问题,减少了安装空间。MPU6050内部整合了 3 轴陀螺仪和 3 轴加速度传感器,并且含有一个第二 IIC 接口,可用于连接外部磁力传感器,并利用自带的数字运动处理器硬件加速引擎,通过主 IIC 接口,向应用端输出完整的9轴融合演算数据。有了DMP,可以使用 InvenSense 公司提供的运动处理资料库,非常方便的实现姿态解算,降低了处理运算对操作系统的负荷,同时大大降低了开发难度。</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">还使用了OLED 模块硬件等。(这里不做介绍较简单)</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;">5、软件部分</h3> <hr class="horizontal-splitline normal-bold-2"><p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">MPU6050 初始化配置流程:</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">1. 初始化 IIC 接口</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">2. 复位 MPU6050</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">3. 设置角速度传感器(陀螺仪)和加速度传感器的满量程范围</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">4. 设置其他参数</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">5. 配置系统时钟源并使能角速度传感器和加速度传感器</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">OLED 初始化配置流程:</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">1. 初始化 IIC 接口</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">2. 关闭OLED显示,设置OLED寄存器参数</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">3. 开启OLED显示</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">(参考文档:<a href="https://wenku.baidu.com/view/fb23e3a4bfeb19e8b8f67c1cfad6195f302be849.html" target="_blank">https://wenku.baidu.com/view/fb23e3a4bfeb19e8b8f67c1cfad6195f302be849.html)</a></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">空间坐标转换算法可百度。</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">软件的初始化流程:</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">-log_init():500000Bd, no parity, 8-bit data,1 stop bit</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">-i2c_master_init ()</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">-oled_init()</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">-MPU_Init()</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;">-mpu_dmp_init()</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height:1.8;"><img src="//image.lceda.cn/pullimage/HKrFMlWeUguhnxXhcVyjm7VdZxVoMjiFQMFVbeJx.jpeg" alt=""></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"><img src="//image.lceda.cn/pullimage/vHnNK3EMDEk1gOmOh1hzZBAErVgiLFmvFkv2NqdP.png" alt="vHnNK3EMDEk1gOmOh1hzZBAErVgiLFmvFkv2NqdP.png"></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height:1.8;"> </p> </div>

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<p><span class="colour" style="color: rgb(85, 85, 85);">立创电赛:板子上需要logo验证哦</span></p>
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