[mw_shl_code=c,true]float yaw = 0; void TIM2_IRQHandler(void) { uint8_t gyroAcc[14]; uint8_t mag[6]; if (TIM_GetITStatus(TIM2,TIM_IT_Update)!= RESET) { LED_Set(Bit_RESET); MPU9250_ReadGyroAcc(gyroAcc); temperature = (int16_t)(((uint16_t)gyroAcc[6]<<8) | gyroAcc[7]); gyrox = (int16_t)(((uint16_t)gyroAcc[8]<<8) | gyroAcc[9]); gyroy = (int16_t)(((uint16_t)gyroAcc[10]<<8) | gyroAcc[11]); gyroz = (int16_t)(((uint16_t)gyroAcc[12]<<8) | gyroAcc[13]); // gyroz -= 31; LowPassFilter((float *)&gyrox,(float *)&gyroy,(float *)&gyroz); updateFlag = 1; yaw += gyroz*0.001/32.768f; LED_Set(Bit_SET); TIM_ClearITPendingBit(TIM2,TIM_IT_Update); TIM_ClearFlag(TIM2, TIM_FLAG_Update); } } [/mw_shl_code] 这是在中断中积分计算陀螺仪的值
[mw_shl_code=c,true]extern float yaw; int main() { uint8_t err; float a; SystemInit(); DelayInit(); TIM2_Configuration(); // CAN1_Configuration(); USART2_Init(57600); LED_Configuration(); SPI2_Configuration(); DelayMs(50); MPU9250_Init(); SPI2_ClockConfig();//?á???????±?? LowPassFilter_Init(); EKF_Init(); // DelayMs(500); TIM2_Start(); while(1) { printf("%lf ",yaw); DelayMs(10); } }[/mw_shl_code] [mw_shl_code=c,true]在main函数中用串口打印陀螺仪的值[/mw_shl_code] [mw_shl_code=c,true]但是读出陀螺仪的值偏差太大[/mw_shl_code] [mw_shl_code=c,true] [/mw_shl_code] [mw_shl_code=c,true]这是开电后不动打开串口助手，然后旋转90度的情况[/mw_shl_code]