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标题:  关于ADIS16405的三轴陀螺姿态计算程序  [打印本页]
作者: A-Lin    时间: 2018-11-2 10:45
标题:  关于ADIS16405的三轴陀螺姿态计算程序 
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关于ADIS16405的三轴陀螺姿态计算程序，用的是四阶龙格库塔法，单片机是STM32F103，对于ADIS16405的SPI采样是模拟方式，验证通过非常实用
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三轴陀螺四阶龙格库塔法
: y. n3 t* ?( ?' M  ......................\11.txt
( n0 T$ Z- S5 m3 k% I  ......................\ADIS16405.h( q9 g7 ~6 [; F+ s2 d* L" s
  ......................\FWlib
& b7 a2 F" o; ]- V% i7 d% y  ......................\.....\inc2 k! I) R+ e/ B) E( a; q
  ......................\.....\...\misc.h8 ^9 |: F7 l  Q  o
  ......................\.....\...\stm32f10x_adc.h
6 p. B" n& [" @6 G  ......................\.....\...\stm32f10x_bkp.h* m( K+ H! I6 b
  ......................\.....\...\stm32f10x_can.h7 P* v) K1 I! Z7 R: u$ W' V* I
  ......................\.....\...\stm32f10x_conf.h
* j/ |% C2 R' ]) C0 ]3 q& ]  ......................\.....\...\stm32f10x_crc.h& Y; ^6 b: i5 z) Y0 M. R
  ......................\.....\...\stm32f10x_dac.h
. k, W+ n1 c3 z0 u& @0 ^; K  ......................\.....\...\stm32f10x_dbgmcu.h7 c1 t1 T) U, z6 y8 p0 p$ J
  ......................\.....\...\stm32f10x_dma.h* j! R* g2 U" Y2 H% j; `3 @3 V
  ......................\.....\...\stm32f10x_exti.h
, F; c+ I, o$ ~, S4 `( n; D  ......................\.....\...\stm32f10x_flash.h
9 G6 H, X) b0 `6 d* D; e8 `  ......................\.....\...\stm32f10x_fsmc.h3 z. u3 {2 J. {' n0 A
  ......................\.....\...\stm32f10x_gpio.h. [) r+ y7 g& A
  ......................\.....\...\stm32f10x_i2c.h  c# O" Q0 `$ A* a) k+ X
  ......................\.....\...\stm32f10x_iwdg.h
4 }# i! B6 ]1 U3 V2 P, m0 Z% i& p  ......................\.....\...\stm32f10x_pwr.h
9 X# Y* A! ]: p- c4 ]2 P2 U% }( J  ......................\.....\...\stm32f10x_rcc.h
/ }4 s& N& b& r2 h$ r  I4 W/ i4 W  ......................\.....\...\stm32f10x_rtc.h4 @6 d6 P  F! `/ W4 W
  ......................\.....\...\stm32f10x_sdio.h( |% j; Q; D5 t$ ]+ W2 f5 T
  ......................\.....\...\stm32f10x_spi.h
3 ?0 r: N" |" |  ......................\.....\...\stm32f10x_tim.h
6 g0 v) Q& E8 |1 ~  ......................\.....\...\stm32f10x_usart.h
/ J# a7 t$ V, }3 i  ......................\.....\...\stm32f10x_wwdg.h
) M7 J2 z+ Q5 Z" p  u8 A  ......................\.....\SRC! K; X; ~; l5 J6 l* E6 d
  ......................\.....\...\misc.c9 o6 u& A8 I6 g7 J7 }6 c  Z
  ......................\.....\...\stm32f10x_adc.c
: `, ~- m% B% \9 u4 c% ?  ......................\.....\...\stm32f10x_bkp.c7 g) X0 u) K: ~- {0 {
  ......................\.....\...\stm32f10x_can.c" m+ n$ k9 M( x) a# C: N* [
  ......................\.....\...\stm32f10x_crc.c
; x8 z/ u8 r* V# }  ......................\.....\...\stm32f10x_dac.c
4 G5 \+ u2 W0 ]2 p4 V2 w  ......................\.....\...\stm32f10x_dbgmcu.c  C/ K& q) c3 _! }& b4 G( P1 u
  ......................\.....\...\stm32f10x_dma.c3 F2 x  K0 t+ C+ h9 R) M1 T" Q
  ......................\.....\...\stm32f10x_exti.c
5 `8 l6 d* x: W) H  ......................\.....\...\stm32f10x_flash.c2 c0 c# U& R7 u2 C$ `% R* |/ G
  ......................\.....\...\stm32f10x_fsmc.c
5 H! o# n1 Y2 u6 x0 _- N2 O  ......................\.....\...\stm32f10x_gpio.c
: P3 }  h$ l( @. u. u  ......................\.....\...\stm32f10x_i2c.c
' F# s5 w# O  b+ }) E- o2 v  ......................\.....\...\stm32f10x_iwdg.c
2 k# s5 X7 T2 ^  T" M( |% l  ......................\.....\...\stm32f10x_pwr.c0 P; T# H) |* D% R' W: S- R
  ......................\.....\...\stm32f10x_rcc.c
, U" ^9 s" u& s2 O( b3 Q+ E  ......................\.....\...\stm32f10x_rtc.c; D" R6 B# b) t- t( I- c
  ......................\.....\...\stm32f10x_sdio.c
2 M6 l! t* y. m! v  M1 y! v: R  ......................\.....\...\stm32f10x_spi.c
8 x+ w; G8 _( }: A$ V9 z! s" r  ......................\.....\...\stm32f10x_tim.c0 w- g1 A: m0 r
  ......................\.....\...\stm32f10x_usart.c
# y% W( _5 ^6 K2 b* G  ......................\.....\...\stm32f10x_wwdg.c9 h% K: j6 h8 F" C* o
  ......................\.....\...\system_stm32f10x.c5 c6 k4 n4 U( T! e
  ......................\JLinkArm_STM3210B-EVAL.ini( v0 R6 o% }& }7 E- G
  ......................\JLinkLog.txt
" |, T+ r: G% s" [, F. u$ A. g  ......................\List
3 Q/ A2 @  w) j- w  ......................\....\startup_stm32f10x_hd.lst$ w0 E* k# c% ]1 ^* i- A) w
  ......................\....\STM32_FD_AD45DB161D-SPI.map; `& P5 `7 h+ L; V
  ......................\main.c$ g3 e& c0 ^/ A0 T+ M7 f6 b( i
  ......................\Obj- y& ?. e3 K+ N
  ......................\...\core_cm3.d. z6 C7 Y( }/ |; C* I  Q+ u
  ......................\...\core_cm3.o7 L1 }2 Z8 `' K' |7 v+ u
  ......................\...\main.d' B* W4 [+ s) S4 z/ J9 t
  ......................\...\main.o- d" }6 F* E# j4 E
  ......................\...\misc.d
: g( `3 o7 J- n) d5 z! t/ y4 k0 H  ......................\...\misc.o
$ i! Y( i: @7 Z* Q8 c1 K  ......................\...\startup_stm32f10x_hd.d
% r. j# C( \/ |, w  f# I& ^  ......................\...\startup_stm32f10x_hd.o) P( @. V4 m8 G0 e! T9 C
  ......................\...\stm32f10x_gpio.d
! v4 c/ @) Y* v+ ^7 B! q  ......................\...\stm32f10x_gpio.o% L) N2 d. _5 H3 {1 H1 d
  ......................\...\stm32f10x_rcc.d
2 p- z# }5 K- R2 |$ N  x; o  ......................\...\stm32f10x_rcc.o
9 Z) D7 [/ V+ Z  ......................\...\stm32f10x_spi.d
6 h& Y1 b- [# Q! ]  ......................\...\stm32f10x_spi.o
, C0 `: v' M! ]8 u, d  u% V  ......................\...\stm32f10x_tim.d2 N  W# O8 W/ ?3 u% g" l
  ......................\...\stm32f10x_tim.o
6 t: O; S- e: ?  ......................\...\stm32f10x_usart.d4 w" h- w* g! ^3 c( y
  ......................\...\stm32f10x_usart.o
5 j# V5 t( O3 s4 u4 i0 h, _# t  ......................\...\STM32_FD_AD45DB161D-SPI.axf
- G  Z/ g! n9 R  ......................\...\STM32_FD_AD45DB161D-SPI.hex; O8 R( O8 V0 M, ?% J  M
  ......................\...\STM32_FD_AD45DB161D-SPI.htm% r: m' @' E; X1 [1 j, y, Y; P- j
  ......................\...\STM32_FD_AD45DB161D-SPI.lnp2 ~" r  g7 s* P! w" z) S0 g
  ......................\...\STM32_FD_AD45DB161D-SPI.plg4 E$ c. ~( [6 H4 _8 I
  ......................\...\STM32_FD_AD45DB161D-SPI.sct6 W  a" y0 z, Q6 ?1 A; ]0 M( b' y7 r3 _
  ......................\...\STM32_FD_AD45DB161D-SPI.tra3 t" p/ s8 G" i7 l& {' \9 R
  ......................\...\system_stm32f10x.crf
4 f6 ~8 A" D& q0 [6 m  ......................\...\system_stm32f10x.d* E# |3 b% [" f! Q# F2 N
  ......................\...\system_stm32f10x.o
  q. ?4 F9 w( \- a) j# [  ......................\sins.h0 h) ]6 \6 d! i+ C) h2 x! E8 a& K
  ......................\startup
. p0 M. u+ `5 D4 [. F6 ^) @! L2 e  ......................\.......\startup_stm32f10x_hd.s
% N& Y+ a, n+ L7 H  ......................\.......\startup_stm32f10x_ld.s( K" r" p1 q5 m
  ......................\.......\startup_stm32f10x_md.s5 [: r5 Z) W9 _& D# Q
  ......................\STM32-FD-AT45DB161D-SPI.opt.bak8 D7 m4 e4 |( A. z! F
  ......................\STM32-FD-AT45DB161D-SPI.Uv2.bak6 i- d. o+ R$ q4 K
  ......................\STM32-FD-AT45DB161D-SPI.uvopt
4 g  t/ C6 R0 ^  ......................\STM32-FD-AT45DB161D-SPI.uvproj8 j/ \" j) D" m4 X" G- x- d
  ......................\STM32-FD-AT45DB161D-SPI_Opt.Bak, p  ^, J; u1 x
  ......................\STM32-FD-AT45DB161D-SPI_STM32-SPI-AT45DB161D.dep9 F0 s) @) b" m! Y" I9 x$ `6 C
  ......................\STM32-FD-AT45DB161D-SPI_Uv2.Bak5 b( p9 ]! f: O3 G
  ......................\STM32-FD-AT45DB161D-SPI_uvopt.bak
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作者: 夏天的向日葵    时间: 2018-11-2 16:52
谢谢分享



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