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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4 J( K9 j% Q m1 k- [# M
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三轴陀螺四阶龙格库塔法
* s3 A1 v8 }4 Y+ l+ g" o' W/ k ......................\11.txt6 A0 Z- w0 [7 L. ?6 W
......................\ADIS16405.h
: G! j! h% j3 g9 O( L& p ......................\FWlib! b5 O' R/ Y8 l5 f0 y w% n# D
......................\.....\inc* c* ~/ C' s; Y' A2 H- q( S$ O
......................\.....\...\misc.h% m; X( d' A- n4 o0 y
......................\.....\...\stm32f10x_adc.h
' l2 ~, i8 q! a I+ M- C ......................\.....\...\stm32f10x_bkp.h; O' C' r" _; ~, U' Y
......................\.....\...\stm32f10x_can.h7 @$ b5 E6 w! o) [2 ^- Q- ]6 A" V
......................\.....\...\stm32f10x_conf.h
3 `* e# V7 |2 y `0 X8 B0 f ......................\.....\...\stm32f10x_crc.h& h( U4 H% P& B0 s# C
......................\.....\...\stm32f10x_dac.h% ^8 P$ s' M; a q9 g$ u3 X
......................\.....\...\stm32f10x_dbgmcu.h2 k# I# O# i7 f0 R* f0 e+ {
......................\.....\...\stm32f10x_dma.h) B) D! \' w. n3 ~2 l
......................\.....\...\stm32f10x_exti.h! t* E6 {4 ]; Z P4 R/ S
......................\.....\...\stm32f10x_flash.h* D& }2 x9 T4 [0 V% O$ Y1 U4 s
......................\.....\...\stm32f10x_fsmc.h
2 O1 Z F! K k ......................\.....\...\stm32f10x_gpio.h4 T7 w) m5 ~9 u/ p; T0 D4 \
......................\.....\...\stm32f10x_i2c.h
4 N, c1 |8 x% N! O: q ......................\.....\...\stm32f10x_iwdg.h
# H: o. I+ ~$ Q: h ......................\.....\...\stm32f10x_pwr.h- j0 R( n r* r# M7 o
......................\.....\...\stm32f10x_rcc.h7 J0 E6 _: @8 [8 ]$ x* F
......................\.....\...\stm32f10x_rtc.h
* e% |; A& t$ R ......................\.....\...\stm32f10x_sdio.h& U4 y2 K; X$ X
......................\.....\...\stm32f10x_spi.h. v h3 K! X* f2 T
......................\.....\...\stm32f10x_tim.h4 I9 E; z7 g) M2 X1 D( C
......................\.....\...\stm32f10x_usart.h+ u' n3 ^& }" ? b9 Z& [ @
......................\.....\...\stm32f10x_wwdg.h
2 U: q8 D: g% }5 w/ K5 G ......................\.....\SRC
8 \9 T q5 W" |# F, [/ \" V: e ......................\.....\...\misc.c
2 O* V1 }6 Y! E. n! U6 j5 @ ......................\.....\...\stm32f10x_adc.c& Z7 X' `5 `: x- Z, E3 A- h
......................\.....\...\stm32f10x_bkp.c+ _) U8 E% n9 u/ ^. N
......................\.....\...\stm32f10x_can.c
8 x6 H" p$ @. L$ W ......................\.....\...\stm32f10x_crc.c1 y, \/ M' h* Q# O3 D$ i
......................\.....\...\stm32f10x_dac.c1 z% R, Q# y$ @, d+ c5 a
......................\.....\...\stm32f10x_dbgmcu.c5 I% Y- ]5 D. e% K/ K4 @( J
......................\.....\...\stm32f10x_dma.c% ~4 }0 T2 E. g# P8 w, g9 }
......................\.....\...\stm32f10x_exti.c: F' ~; t' o* b8 }
......................\.....\...\stm32f10x_flash.c9 y) F+ I# @9 N; d7 E
......................\.....\...\stm32f10x_fsmc.c1 q0 j4 v- @; ?, G
......................\.....\...\stm32f10x_gpio.c
! s8 L* C: f3 e ......................\.....\...\stm32f10x_i2c.c$ f3 p# D. M1 o6 n
......................\.....\...\stm32f10x_iwdg.c. z9 K. ?0 Q5 u( U' H3 N% u& f
......................\.....\...\stm32f10x_pwr.c
/ Q6 F5 n9 G8 w! t+ s) o) j3 b ......................\.....\...\stm32f10x_rcc.c
! Y1 R& L6 O! e ......................\.....\...\stm32f10x_rtc.c, }2 f5 F0 U" l4 f$ g) ]2 X9 W8 ]
......................\.....\...\stm32f10x_sdio.c) U. K$ z# M& K& _8 A
......................\.....\...\stm32f10x_spi.c! w; O6 Z4 N9 O6 p' u; I, l
......................\.....\...\stm32f10x_tim.c
C% Q; @" ^1 J4 \/ N. C. }8 | ......................\.....\...\stm32f10x_usart.c
6 ^' A8 B, ?, i; O, j8 y ......................\.....\...\stm32f10x_wwdg.c
8 Y. a8 q8 @! u% a ......................\.....\...\system_stm32f10x.c2 Q% Y& g/ y! `: r
......................\JLinkARM_STM3210B-EVAL.ini
# x7 k3 P6 }- ~3 b* p8 c9 @ ......................\JLinkLog.txt
! H5 E5 f2 x7 A7 v) k ......................\List
- G( ~- s' n: e7 b ......................\....\startup_stm32f10x_hd.lst- _/ B, @; {8 d2 s: Y
......................\....\STM32_FD_AD45DB161D-SPI.map
" w. m5 |( T; H- _$ [ ......................\main.c0 M- r P/ W$ D% d
......................\Obj
( f, k3 E: P1 c ......................\...\core_cm3.d
' b+ _8 k4 j m* u ......................\...\core_cm3.o) g$ W* D: X1 y E6 O4 V0 B
......................\...\main.d
6 _- Q7 S3 K( f# A. G ......................\...\main.o
3 g( f4 O/ a8 S. _! Y% d1 A# b ......................\...\misc.d
L( b$ v8 e) q' t1 t ......................\...\misc.o
0 X# h" Q. {" J+ |5 k7 y ......................\...\startup_stm32f10x_hd.d
8 K/ e* P- G; H; ?$ |8 v8 c! G ......................\...\startup_stm32f10x_hd.o
9 o; a$ u& A+ v O4 y; L3 ~: s8 ` ......................\...\stm32f10x_gpio.d
& _% e* R7 S4 K" l. s) c$ c ......................\...\stm32f10x_gpio.o$ G9 l( W$ |# ^/ |# a
......................\...\stm32f10x_rcc.d; H) x- A- G4 S# B& [" Y
......................\...\stm32f10x_rcc.o
$ C. b P+ ?% S( k ......................\...\stm32f10x_spi.d
8 E1 W' C+ J- K) A" }9 E; L ......................\...\stm32f10x_spi.o
6 K8 M5 W2 I7 x( P& b/ L A- T ......................\...\stm32f10x_tim.d
- m* e# I% x7 z) J* X ......................\...\stm32f10x_tim.o
: q8 o+ E9 d' }8 U ......................\...\stm32f10x_usart.d
i7 z4 b1 z9 @% @* Z! |- B( R1 ? ......................\...\stm32f10x_usart.o
" v$ A' N. |* t ......................\...\STM32_FD_AD45DB161D-SPI.axf: G9 F. V# B, W% e5 B
......................\...\STM32_FD_AD45DB161D-SPI.hex
& ]% v/ b& k- e ......................\...\STM32_FD_AD45DB161D-SPI.htm
2 `8 |4 T" n& e ......................\...\STM32_FD_AD45DB161D-SPI.lnp) Z$ l6 ^6 f+ J- R6 D1 m
......................\...\STM32_FD_AD45DB161D-SPI.plg, h1 n, s+ A, [4 m$ n- T; x
......................\...\STM32_FD_AD45DB161D-SPI.sct
0 b% i) Y4 M& y) D) E: u- o9 r ......................\...\STM32_FD_AD45DB161D-SPI.tra
6 Z+ C. _9 q# z; j ......................\...\system_stm32f10x.cRF8 g& s9 o8 c4 d4 m0 I3 N$ U
......................\...\system_stm32f10x.d/ W4 R/ _# t4 s/ ~! h3 _
......................\...\system_stm32f10x.o
* [: |+ A3 }5 l8 A3 u ......................\sins.h8 @! k0 O/ P7 |6 i/ a- @- f/ B
......................\startup# c7 G7 r# j" M+ @
......................\.......\startup_stm32f10x_hd.s B* J5 C9 Q+ k+ o* o7 I
......................\.......\startup_stm32f10x_ld.s
# G5 g. `. w& H ......................\.......\startup_stm32f10x_md.s. D$ Z. s! T7 z/ K- N
......................\STM32-FD-AT45DB161D-SPI.opt.bak
/ ~* ?" E1 E. @) C1 x8 y( z ......................\STM32-FD-AT45DB161D-SPI.Uv2.bak
( Q% f1 Z9 n. K# H! r5 w& O ......................\STM32-FD-AT45DB161D-SPI.uvopt
+ D7 c, L5 |) H# \6 ^! K ......................\STM32-FD-AT45DB161D-SPI.uvproj
; m* p ]' r8 Y1 s# j4 M ......................\STM32-FD-AT45DB161D-SPI_Opt.Bak
9 X ]8 J( l% n( i ......................\STM32-FD-AT45DB161D-SPI_STM32-SPI-AT45DB161D.dep6 h. Y* z* h' b5 ]) y7 G
......................\STM32-FD-AT45DB161D-SPI_Uv2.Bak# t) g& t5 w! y- Y5 L3 Y- B% x. C" X5 F1 z
......................\STM32-FD-AT45DB161D-SPI_uvopt.bak
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发表于 2018-11-2 10:45
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