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Выполняется корректное чтение данных иму. Оси и наклоны соответствуют рабочим прошивке и дрону

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Раджаб Бисултанов
2026-04-06 16:13:16 +03:00
parent 699577d82b
commit b713794a26
8 changed files with 100 additions and 84 deletions
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13
Source/BSP/Src/imu.c
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@@ -23,6 +23,9 @@ void i2c_gpio_init()
GPIOB->AFR[1] &= ~((0xF << ((8 - 8) * 4)) | (0xF << ((9 - 8) * 4)));
GPIOB->AFR[1] |= ((4 << ((8 - 8) * 4)) | (4 << ((9 - 8) * 4)));
// high speed
GPIOB->OSPEEDR |= (2 << (8 * 2)) | (2 << (9 * 2));
// enable open-drain
GPIOB->OTYPER |= (1 << 8) | (1 << 9);
@@ -36,8 +39,10 @@ void i2c1_init()
// enable I2C1
RCC->APB1ENR1 |= RCC_APB1ENR1_I2C1EN;
// 0x00303D5B - 100 kHz
// 400 kHz @ 16 MHz
I2C1->TIMINGR = 0x00303D5B;
I2C1->TIMINGR = 0x10802D9BUL;
I2C1->CR1 |= I2C_CR1_PE;
}
@@ -56,7 +61,7 @@ void imu_init()
// gyro ~2000 dps, FS_SEL = 3
i2c_write(ICM_ADDR, REG_GYRO_CONFIG_1, GYRO_FS_SEL_2000 | GYRO_DLPFCFG_73 | GYRO_FCHOICE_ON);
// accel ~4g, FS_SEL = 1
// accel 8g, FS_SEL = 2
i2c_write(ICM_ADDR, REG_ACCEL_CONFIG, ACCEL_FS_SEL_8 | ACCEL_DLPFCFG_69 | ACCEL_FCHOICE_ON);
// back to bank 0
@@ -127,8 +132,8 @@ void imu_read_raw(imu_raw_t* data)
data->ay = (buf[2] << 8) | buf[3];
data->az = (buf[4] << 8) | buf[5];
data->gx = (buf[6] << 8) | buf[7];
data->gy = (buf[8] << 8) | buf[9];
data->gx = (buf[6] << 8) | buf[7];
data->gy = (buf[8] << 8) | buf[9];
data->gz = (buf[10] << 8) | buf[11];
}