3. 

        <meter id="pryje"><nav id="pryje"><delect id="pryje"></delect></nav></meter>
          <label id="pryje"></label>
          
	
	
          
		
			
		
          
    
    	
          
  		
          
		    
          
		      
		      
		      
		    
          
  		
          
  		
          
	
          


	


          
		
          
		            
            
        		
          
		
          







          


          
	
	
          
		
          新聞中心
          
	
          
	
          
	
          EEPW首頁 
	 > 嵌入式系統(tǒng) > 設(shè)計應(yīng)用 > LSM303DLHC應(yīng)用解析單片機(jī)程序-----STM32F303
          
    
          

          

          


	
	
	

          
	
          
		
          
			
          LSM303DLHC應(yīng)用解析單片機(jī)程序-----STM32F303
          
						
          
				作者：
				時間：2016-11-23
				來源：網(wǎng)絡(luò)
				
				
				
				
				收藏
			
          

			
          
				
				
			
          

			
          
			
			
          
			
			
          
				
				
			
          
                
			1.單片機(jī)端口配置初始化
          以STM32F303程序為例
          staticvoidLSM303DLHC_LowLevel_Init(void)
          {
          GPIO_InitTypeDefGPIO_InitStructure;
          EXTI_InitTypeDefEXTI_InitStructure;
          I2C_InitTypeDefI2C_InitStructure;

          RCC_APB1PeriphClockCmd(LSM303DLHC_I2C_CLK,ENABLE);

          RCC_AHBPeriphClockCmd(LSM303DLHC_I2C_SCK_GPIO_CLK|LSM303DLHC_I2C_SDA_GPIO_CLK,ENABLE);

          RCC_AHBPeriphClockCmd(LSM303DLHC_I2C_INT1_GPIO_CLK,ENABLE);

          RCC_AHBPeriphClockCmd(LSM303DLHC_I2C_INT2_GPIO_CLK,ENABLE);

          RCC_AHBPeriphClockCmd(LSM303DLHC_DRDY_GPIO_CLK,ENABLE);
          GPIO_PinAFConfig(LSM303DLHC_I2C_SCK_GPIO_PORT,LSM303DLHC_I2C_SCK_SOURCE,LSM303DLHC_I2C_SCK_AF);
          GPIO_PinAFConfig(LSM303DLHC_I2C_SDA_GPIO_PORT,LSM303DLHC_I2C_SDA_SOURCE,LSM303DLHC_I2C_SDA_AF);
          GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;
          GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;
          GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_DOWN;
          GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;

          GPIO_InitStructure.GPIO_Pin=LSM303DLHC_I2C_SCK_PIN;
          GPIO_Init(LSM303DLHC_I2C_SCK_GPIO_PORT,&GPIO_InitStructure);

          GPIO_InitStructure.GPIO_Pin=LSM303DLHC_I2C_SDA_PIN;
          GPIO_Init(LSM303DLHC_I2C_SDA_GPIO_PORT,&GPIO_InitStructure);

          GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN;
          GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;
          GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_NOPULL;
          GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;

          GPIO_InitStructure.GPIO_Pin=LSM303DLHC_DRDY_PIN;
          GPIO_Init(LSM303DLHC_DRDY_GPIO_PORT,&GPIO_InitStructure);

          SYSCFG_EXTILineConfig(LSM303DLHC_DRDY_EXTI_PORT_SOURCE,LSM303DLHC_DRDY_EXTI_PIN_SOURCE);

          EXTI_InitStructure.EXTI_Line=LSM303DLHC_DRDY_EXTI_LINE;
          EXTI_InitStructure.EXTI_Mode=EXTI_Mode_Interrupt;
          EXTI_InitStructure.EXTI_Trigger=EXTI_Trigger_Rising;
          EXTI_InitStructure.EXTI_LineCmd=ENABLE;

          EXTI_Init(&EXTI_InitStructure);

          I2C_InitStructure.I2C_Mode=I2C_Mode_I2C;
          I2C_InitStructure.I2C_AnalogFilter=I2C_AnalogFilter_Enable;
          I2C_InitStructure.I2C_DigitalFilter=0x00;
          I2C_InitStructure.I2C_OwnAddress1=0x00;
          I2C_InitStructure.I2C_Ack=I2C_Ack_Enable;
          I2C_InitStructure.I2C_AcknowledgedAddress=I2C_AcknowledgedAddress_7bit;
          I2C_InitStructure.I2C_Timing=0x00902025;

          I2C_Init(LSM303DLHC_I2C,&I2C_InitStructure);

          I2C_Cmd(LSM303DLHC_I2C,ENABLE);

          GPIO_InitStructure.GPIO_Pin=LSM303DLHC_I2C_INT1_PIN;
          GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN;
          GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;
          GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
          GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_NOPULL;
          GPIO_Init(LSM303DLHC_I2C_INT1_GPIO_PORT,&GPIO_InitStructure);

          GPIO_InitStructure.GPIO_Pin=LSM303DLHC_I2C_INT2_PIN;
          GPIO_Init(LSM303DLHC_I2C_INT2_GPIO_PORT,&GPIO_InitStructure);
          }
          2.LSM303DLHC芯片初始化MAG(磁力)寄存器函數(shù)
          給地址寄存器寫值及功能參見LSM303DLHC數(shù)據(jù)手冊
          voidLSM303DLHC_MagInit(LSM303DLHCMag_InitTypeDef*LSM303DLHC_InitStruct)
          {
          uint8_tcra_regm=0x00,crb_regm=0x00,mr_regm=0x00;

          LSM303DLHC_InitStructure.Temperature_Sensor=LSM303DLHC_TEMPSENSOR_DISABLE;//配置值0x00
          LSM303DLHC_InitStructure.MagOutput_DataRate=LSM303DLHC_ODR_30_HZ; //配置值0x14
          LSM303DLHC_InitStructure.MagFull_Scale=LSM303DLHC_FS_8_1_GA; //配置值0xE0
          LSM303DLHC_InitStructure.Working_Mode=LSM303DLHC_CONTINUOS_CONVERSION; //配置值0x00
          LSM303DLHC_LowLevel_Init();

          cra_regm|=(uint8_t)(LSM303DLHC_InitStruct->Temperature_Sensor|LSM303DLHC_InitStruct->MagOutput_DataRate);

          crb_regm|=(uint8_t)(LSM303DLHC_InitStruct->MagFull_Scale);

          mr_regm|=(uint8_t)(LSM303DLHC_InitStruct->Working_Mode);

          LSM303DLHC_Write(MAG_I2C_ADDRESS,LSM303DLHC_CRA_REG_M,&cra_regm);

          LSM303DLHC_Write(MAG_I2C_ADDRESS,LSM303DLHC_CRB_REG_M,&crb_regm);

          LSM303DLHC_Write(MAG_I2C_ADDRESS,LSM303DLHC_MR_REG_M,&mr_regm);
          }
          3.LSM303DLHC芯片初始化ACC(加速度)寄存器函數(shù)
          voidLSM303DLHC_AccInit(LSM303DLHCAcc_InitTypeDef*LSM303DLHC_InitStruct)
          {
          uint8_tctrl1=0x00,ctrl4=0x00;

          LSM303DLHCAcc_InitStructure.Power_Mode=LSM303DLHC_NORMAL_MODE; //配置值0x00
          LSM303DLHCAcc_InitStructure.AccOutput_DataRate=LSM303DLHC_ODR_50_HZ;//配置值0x40
          LSM303DLHCAcc_InitStructure.Axes_Enable=LSM303DLHC_AXES_ENABLE; //配置值0x07
          LSM303DLHCAcc_InitStructure.AccFull_Scale=LSM303DLHC_FULLSCALE_2G; //配置值0x00
          LSM303DLHCAcc_InitStructure.BlockData_Update=LSM303DLHC_BlockUpdate_Continous;//配置值0x00
          LSM303DLHCAcc_InitStructure.Endianness=LSM303DLHC_BLE_LSB; //配置值0x00
          LSM303DLHCAcc_InitStructure.High_Resolution=LSM303DLHC_HR_ENABLE; //配置值0x08
          LSM303DLHC_LowLevel_Init();

          ctrl1|=(uint8_t)(LSM303DLHC_InitStruct->Power_Mode|LSM303DLHC_InitStruct->AccOutput_DataRate|LSM303DLHC_InitStruct->Axes_Enable);
          ctrl4|=(uint8_t)(LSM303DLHC_InitStruct->BlockData_Update|LSM303DLHC_InitStruct->Endianness|
          LSM303DLHC_InitStruct->AccFull_Scale|LSM303DLHC_InitStruct->High_Resolution);

          LSM303DLHC_Write(ACC_I2C_ADDRESS,LSM303DLHC_CTRL_REG1_A,&ctrl1);

          LSM303DLHC_Write(ACC_I2C_ADDRESS,LSM303DLHC_CTRL_REG4_A,&ctrl4);
          }

          LSM303DLHCFilter_InitStructure.HighPassFilter_Mode_Selection=LSM303DLHC_HPM_NORMAL_MODE;//配置值0x80
          LSM303DLHCFilter_InitStructure.HighPassFilter_CutOff_Frequency=LSM303DLHC_HPFCF_16; //配置值0x10
          LSM303DLHCFilter_InitStructure.HighPassFilter_AOI1=LSM303DLHC_HPF_AOI1_DISABLE; //配置值0x00
          LSM303DLHCFilter_InitStructure.HighPassFilter_AOI2=LSM303DLHC_HPF_AOI2_DISABLE; //配置值0x00

          LSM303DLHC_AccFilterConfig(&LSM303DLHCFilter_InitStructure);
          4.I2C通信讀、寫LSM303DLHC芯片寄存器封裝函數(shù)
          I2C讀取LSM303DLHC寄存器封裝函數(shù)
          uint16_tLSM303DLHC_Read(uint8_tDeviceAddr,uint8_tRegAddr,uint8_t*pBuffer,uint16_tNumByteToRead)
          {

          LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
          while(I2C_GetFlagStatus(LSM303DLHC_I2C,I2C_ISR_BUSY)!=RESET)
          {
          if((LSM303DLHC_Timeout--)==0)returnLSM303DLHC_TIMEOUT_UserCallback();
          }

          I2C_TransferHandling(LSM303DLHC_I2C,DeviceAddr,1,I2C_SoftEnd_Mode,I2C_Generate_Start_Write);

          LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
          while(I2C_GetFlagStatus(LSM303DLHC_I2C,I2C_ISR_TXIS)==RESET)
          {
          if((LSM303DLHC_Timeout--)==0)returnLSM303DLHC_TIMEOUT_UserCallback();
          }

          if(NumByteToRead>1)
          RegAddr|=0x80;

          I2C_SendData(LSM303DLHC_I2C,(uint8_t)RegAddr);

          LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
          while(I2C_GetFlagStatus(LSM303DLHC_I2C,I2C_ISR_TC)==RESET)
          {
          if((LSM303DLHC_Timeout--)==0)returnLSM303DLHC_TIMEOUT_UserCallback();
          }

          I2C_TransferHandling(LSM303DLHC_I2C,DeviceAddr,NumByteToRead,I2C_AutoEnd_Mode,I2C_Generate_Start_Read);

          while(NumByteToRead)
          {

          LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
          while(I2C_GetFlagStatus(LSM303DLHC_I2C,I2C_ISR_RXNE)==RESET)
          {
          if((LSM303DLHC_Timeout--)==0)returnLSM303DLHC_TIMEOUT_UserCallback();
          }

          *pBuffer=I2C_ReceiveData(LSM303DLHC_I2C);

          pBuffer++;

          NumByteToRead--;
          }

          LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
          while(I2C_GetFlagStatus(LSM303DLHC_I2C,I2C_ISR_STOPF)==RESET)
          {
          if((LSM303DLHC_Timeout--)==0)returnLSM303DLHC_TIMEOUT_UserCallback();
          }

          I2C_ClearFlag(LSM303DLHC_I2C,I2C_ICR_STOPCF);

          returnLSM303DLHC_OK;
          }
          I2C寫LSM303DLHC寄存器封裝函數(shù)
          uint16_tLSM303DLHC_Write(uint8_tDeviceAddr,uint8_tRegAddr,uint8_t*pBuffer)
          {

          LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
          while(I2C_GetFlagStatus(LSM303DLHC_I2C,I2C_ISR_BUSY)!=RESET)
          {
          if((LSM303DLHC_Timeout--)==0)returnLSM303DLHC_TIMEOUT_UserCallback();
          }

          I2C_TransferHandling(LSM303DLHC_I2C,DeviceAddr,1,I2C_Reload_Mode,I2C_Generate_Start_Write);

          LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
          while(I2C_GetFlagStatus(LSM303DLHC_I2C,I2C_ISR_TXIS)==RESET)
          {
          if((LSM303DLHC_Timeout--)==0)returnLSM303DLHC_TIMEOUT_UserCallback();
          }

          I2C_SendData(LSM303DLHC_I2C,(uint8_t)RegAddr);

          LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
          while(I2C_GetFlagStatus(LSM303DLHC_I2C,I2C_ISR_TCR)==RESET)
          {
          if((LSM303DLHC_Timeout--)==0)returnLSM303DLHC_TIMEOUT_UserCallback();
          }

          I2C_TransferHandling(LSM303DLHC_I2C,DeviceAddr,1,I2C_AutoEnd_Mode,I2C_No_StartStop);

          LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
          while(I2C_GetFlagStatus(LSM303DLHC_I2C,I2C_ISR_TXIS)==RESET)
          {
          if((LSM303DLHC_Timeout--)==0)returnLSM303DLHC_TIMEOUT_UserCallback();
          }

          I2C_SendData(LSM303DLHC_I2C,*pBuffer);

          LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
          while(I2C_GetFlagStatus(LSM303DLHC_I2C,I2C_ISR_STOPF)==RESET)
          {
          if((LSM303DLHC_Timeout--)==0)returnLSM303DLHC_TIMEOUT_UserCallback();
          }

          I2C_ClearFlag(LSM303DLHC_I2C,I2C_ICR_STOPCF);

          returnLSM303DLHC_OK;
          }
          5.從LSM303DLHC取出3軸磁力數(shù)值（Mag），并進(jìn)行單位處理。
          voidDemo_CompassReadMag(float*pfData)
          {
          staticuint8_tbuffer[6]={0};
          uint8_tCTRLB=0;
          uint16_tMagn_Sensitivity_XY=0,Magn_Sensitivity_Z=0;
          uint8_ti=0;
          LSM303DLHC_Read(MAG_I2C_ADDRESS,LSM303DLHC_CRB_REG_M,&CTRLB,1);

          LSM303DLHC_Read(MAG_I2C_ADDRESS,LSM303DLHC_OUT_X_H_M,buffer,1);
          LSM303DLHC_Read(MAG_I2C_ADDRESS,LSM303DLHC_OUT_X_L_M,buffer+1,1);
          LSM303DLHC_Read(MAG_I2C_ADDRESS,LSM303DLHC_OUT_Y_H_M,buffer+2,1);
          LSM303DLHC_Read(MAG_I2C_ADDRESS,LSM303DLHC_OUT_Y_L_M,buffer+3,1);
          LSM303DLHC_Read(MAG_I2C_ADDRESS,LSM303DLHC_OUT_Z_H_M,buffer+4,1);
          LSM303DLHC_Read(MAG_I2C_ADDRESS,LSM303DLHC_OUT_Z_L_M,buffer+5,1);

          switch(CTRLB&0xE0)
          {
          caseLSM303DLHC_FS_1_3_GA:

          Magn_Sensitivity_XY=LSM303DLHC_M_SENSITIVITY_XY_1_3Ga;//數(shù)值1100
          Magn_Sensitivity_Z=LSM303DLHC_M_SENSITIVITY_Z_1_3Ga;//數(shù)值980
          break;
          caseLSM303DLHC_FS_1_9_GA:
          Magn_Sensitivity_XY=LSM303DLHC_M_SENSITIVITY_XY_1_9Ga;//數(shù)值855
          Magn_Sensitivity_Z=LSM303DLHC_M_SENSITIVITY_Z_1_9Ga;//數(shù)值760
          break;
          caseLSM303DLHC_FS_2_5_GA:
          Magn_Sensitivity_XY=LSM303DLHC_M_SENSITIVITY_XY_2_5Ga;//數(shù)值670
          Magn_Sensitivity_Z=LSM303DLHC_M_SENSITIVITY_Z_2_5Ga;//數(shù)值600
          break;
          caseLSM303DLHC_FS_4_0_GA:
          Magn_Sensitivity_XY=LSM303DLHC_M_SENSITIVITY_XY_4Ga;//數(shù)值450
          Magn_Sensitivity_Z=LSM303DLHC_M_SENSITIVITY_Z_4Ga;//數(shù)值400
          break;
          caseLSM303DLHC_FS_4_7_GA:
          Magn_Sensitivity_XY=LSM303DLHC_M_SENSITIVITY_XY_4_7Ga;//數(shù)值400
          Magn_Sensitivity_Z=LSM303DLHC_M_SENSITIVITY_Z_4_7Ga;//數(shù)值355
          break;
          caseLSM303DLHC_FS_5_6_GA:
          Magn_Sensitivity_XY=LSM303DLHC_M_SENSITIVITY_XY_5_6Ga;//數(shù)值330
          Magn_Sensitivity_Z=LSM303DLHC_M_SENSITIVITY_Z_5_6Ga;//數(shù)值295
          break;
          caseLSM303DLHC_FS_8_1_GA:
          Magn_Sensitivity_XY=LSM303DLHC_M_SENSITIVITY_XY_8_1Ga;//數(shù)值230
          Magn_Sensitivity_Z=LSM303DLHC_M_SENSITIVITY_Z_8_1Ga;//數(shù)值205
          break;
          }

          for(i=0;i<2;i++)
          {
          pfData[i]=(float)((int16_t)(((uint16_t)buffer[2*i]<<8)+buffer[2*i+1])*1000)/Magn_Sensitivity_XY;
          }
          pfData[2]=(float)((int16_t)(((uint16_t)buffer[4]<<8)+buffer[5])*1000)/Magn_Sensitivity_Z;
          }
          6.從LSM303DLHC取出3軸加速度數(shù)值，并進(jìn)行處理。
          voidDemo_CompassReadAcc(float*pfData)
          {
          int16_tpnRawData[3];
          uint8_tctrlx[2];
          uint8_tbuffer[6],cDivider;
          uint8_ti=0;
          floatLSM_Acc_Sensitivity=LSM_Acc_Sensitivity_2g;

          LSM303DLHC_Read(ACC_I2C_ADDRESS,LSM303DLHC_CTRL_REG4_A,ctrlx,2);
          LSM303DLHC_Read(ACC_I2C_ADDRESS,LSM303DLHC_OUT_X_L_A,buffer,6);
          if(ctrlx[1]&0x40)
          cDivider=64;//大端
          else
          cDivider=16;//小端


          if(!(ctrlx[0]&0x40)||(ctrlx[1]&0x40))
          {
          for(i=0;i<3;i++)
          {
          pnRawData[i]=((int16_t)((uint16_t)buffer[2*i+1]<<8)+buffer[2*i])/cDivider;
          }
          }
          else
          {
          for(i=0;i<3;i++)
          pnRawData[i]=((int16_t)((uint16_t)buffer[2*i]<<8)+buffer[2*i+1])/cDivider;
          }

          LSM303DLHC_Read(ACC_I2C_ADDRESS,LSM303DLHC_CTRL_REG4_A,ctrlx,2);
          if(ctrlx[1]&0x40)
          {

          LSM_Acc_Sensitivity=0.25;
          }
          else
          {


          switch(ctrlx[0]&0x30)
          {
          caseLSM303DLHC_FULLSCALE_2G:
          LSM_Acc_Sensitivity=LSM_Acc_Sensitivity_2g;//1.0f
          break;
          caseLSM303DLHC_FULLSCALE_4G:
          LSM_Acc_Sensitivity=LSM_Acc_Sensitivity_4g;//0.5f
          break;
          caseLSM303DLHC_FULLSCALE_8G:
          LSM_Acc_Sensitivity=LSM_Acc_Sensitivity_8g;//0.25f
          break;
          caseLSM303DLHC_FULLSCALE_16G:
          LSM_Acc_Sensitivity=LSM_Acc_Sensitivity_16g;//0.0834f
          break;
          }
          }


          for(i=0;i<3;i++)
          {
          pfData[i]=(float)pnRawData[i]/LSM_Acc_Sensitivity;
          }
          }
          for(i=0;i<3;i++)
          AccBuffer[i]/=100.0f;
          7.LSM303DLHC加速度值計算角度公式函數(shù)
          X軸旋轉(zhuǎn)表示Pitch----俯仰角
          Y軸旋轉(zhuǎn)表示Yaw----航向角
          Z軸旋轉(zhuǎn)表示Roll
          1.計算角加速度的矢量模長|A|=根號下(X*X+Y*Y+Z*Z)

          fNormAcc=sqrt((AccBuffer[0]*AccBuffer[0])+(AccBuffer[1]*AccBuffer[1])+(AccBuffer[2]*AccBuffer[2]));
          2.計算Roll（Z軸旋轉(zhuǎn)）橫滾角Pitch(X軸)正弦、余弦值俯仰角

          fSinRoll=-AccBuffer[1]/fNormAcc;

          fCosRoll=sqrt(1.0-(fSinRoll*fSinRoll));

          fSinPitch=AccBuffer[0]/fNormAcc;

          fCosPitch=sqrt(1.0-(fSinPitch*fSinPitch));
          8.根據(jù)加速度正弦余弦值來判斷角度
          RollAng-----橫滾角（繞Z軸轉(zhuǎn)）
          PitchAng-----俯仰角（繞X軸轉(zhuǎn)）
          if(fSinRoll>0)
          {
          if(fCosRoll>0)
          {
          RollAng=acos(fCosRoll)*180/PI;
          }
          else
          {
          RollAng=acos(fCosRoll)*180/PI+180;
          }
          }
          else
          {
          if(fCosRoll>0)
          {
          RollAng=acos(fCosRoll)*180/PI+360;
          }
          else
          {
          RollAng=acos(fCosRoll)*180/PI+180;
          }
          }

          if(fSinPitch>0)
          {
          if(fCosPitch>0)
          {
          PitchAng=acos(fCosPitch)*180/PI;
          }
          else
          {
          PitchAng=acos(fCosPitch)*180/PI+180;
          }
          }
          else
          {
          if(fCosPitch>0)
          {
          PitchAng=acos(fCosPitch)*180/PI+360;
          }
          else
          {
          PitchAng=acos(fCosPitch)*180/PI+180;
          }
          }

          if(RollAng>=360)
          {
          RollAng=RollAng-360;
          }
          if(PitchAng>=360)
          {
          PitchAng=PitchAng-360;
          }
          if(RollAng>=360)
          {
          RollAng=RollAng-360;
          }
          if(PitchAng>=360)
          {
          PitchAng=PitchAng-360;
          }
          9.航向角計算
          航向角是指移動物體前進(jìn)方向和正北方向之間的夾角。以順時針方向為正角度。
          HeadingValue---航向角（范圍：0~360度）
          fTiltedX=MagBuffer[0]*fCosPitch+MagBuffer[2]*fSinPitch;
          fTiltedY=MagBuffer[0]*fSinRoll*fSinPitch+MagBuffer[1]*fCosRoll-MagBuffer[1]*fSinRoll*fCosPitch;
          航向角：Y軸與X軸的正切（atan2f）
          HeadingValue=(float)((atan2f((float)fTiltedY,(float)fTiltedX))*180)/PI;
          if(HeadingValue<0)
          {
          HeadingValue=HeadingValue+360;
          }
          在平面坐標(biāo)系中載體的方向定義與X、Y、Z三軸是對應(yīng)關(guān)系如下：
          X軸----E(東),Y軸----N(北)，Z軸-----天
          LSM303DLHC數(shù)據(jù)手冊寄存器功能配置及地址請詳細(xì)閱讀，給寄存器地址寫值時對應(yīng)相應(yīng)功能請仔細(xì)檢查。
          
				
            
                
			
							
          
                
			              
              
            
          
		
          
		
          
		
          
		
          
		
          
			
            
				
          • 
					
					
			  	
            • 
			  	
          • 
					
					
			  	
            • 
			  	
          • 
					
					
			  	
            • 
				
          • 
					
					
				
            • 
				
          • 
					
					
				
            • 
			
          
			
          
		
          
		
		
          
		
          
			
			
		
          
        
			
		

	

          
	
	
          
		
          
			
          評論
          					
		
          
		
          
			
          
			
				
          
					
					
          
						
                        
					
          
				
          
                		
						
						
			
          
		
          
		
          
		
          
            
			
            
		
          
	
          
	
          
	
          
		
		

          


	
          
	
          
		
		
	
          


    
          
        
          技術(shù)專區(qū)
          
      
          
      
          
			
      
           
       

          

   











          
	
          
	    關(guān)閉
	
          
	
	

          







	
	





          



          


看屁屁www成人影院,亚洲人妻成人图片,亚洲精品成人午夜在线,日韩在线 欧美成人

(function(){
    var bp = document.createElement('script');
    var curProtocol = window.location.protocol.split(':')[0];
    if (curProtocol === 'https') {
        bp.src = 'https://zz.bdstatic.com/linksubmit/push.js';
    }
    else {
        bp.src = 'http://push.zhanzhang.baidu.com/push.js';
    }
    var s = document.getElementsByTagName("script")[0];
    s.parentNode.insertBefore(bp, s);
})();