简介

产品参数

引脚说明

-SEN0258-功能示意图01.jpg
标号 名称 功能描述
1 USB USB
2 VCC 5V电源电压输入
3 GND GND
4 SPI接口 SPI
5 INT接口 中断

电流转电压传感器引脚对应表

专业术语描述

该10DOF Attitude Sensor采用加速度计、陀螺仪以及电子罗盘传感器,并输出处理后的姿态飞行数据---欧拉角。因此,在使用该模块之前,需要对相关术语及原理进行了解。

欧拉角是用来唯一地确定定点转动明体位置的三个一组独立角参量,由章动角θ、进动角ψ和自转角φ组成,为L.欧拉首先提出,故得名。简单点说,就是刚体的姿态改变,可以具体到刚体沿着坐标系轴旋转的角度。我们把10DOF Attitude Sensor模块想象成一架飞机,而机头方向是10DOF Attitude Sensor的y轴方向,机身的翅膀方向是10DOF Attitude Sensor的x轴方向,与机身垂直的方向是z轴方向,如下图所示: -SEN0258-功能示意图01.jpg

围绕着X轴旋转的,称为俯仰角(pitch):机体抬头时,pitch为正,反之为负。如下图所示: SEN0258-pitch.gif 围绕着Z轴旋转的,称为偏航角(yaw):机头向右时,yaw为正,反之为负。如下图所示: SEN0258-yaw.gif 围绕着Y轴旋转的,称为翻滚角(roll):机体向右翻滚时,roll正,反之为负。如下图所示: SEN0258-roll.gif

姿态模拟

为了方便姿态模拟,10DOF Attitude Sensor提供了姿态数据USB串口输出端口,打开arduino串口调试助手,选择10DOF Attitude Sensor对应的串口,波特率为115200,输出数据如下: SEN0258-Serial.png

10Dof姿态显示

使用教程

本教程演示如何使用这款10DOF Attitude Sensor模块。

准备

接线图

cs连接到4引脚,int1、int2分别连接到2、3引脚

样例代码

| 6.3.1程序功能说明: 通过SPI接口读取MPU6050传感器的仰角、翻滚角、偏航角,并将读取到的数据通过串口打印出来。此demo结合DFRobot新推出的imu_show.exe软件,来显示姿态变化的实时过程,具体软件介绍请查看软件说明

/*
 * file 10DOF.ino
 *
 * @ https://github.com/DFRobot/DFRobot_10DOF
 *
 * connect with your board (please reference board compatibility)
 *
 * 10-DOF inertial guidance sensor, providing accurate Euler angle information: When the USB access,
 * can cooperate with our software Imu_show(https://github.com/DFRobot/DFRobot_IMU_Show)
 * real-time transmission display current posture (in the default standard mode),
 * and other MCU through the SPI interface Communication transmission attitude information and temperature, altitude information.
 *
 * Copyright   [DFRobot](http://www.dfrobot.com), 2016
 * Copyright   GNU Lesser General Public License
 *
 * version  V1.0
 * date  2018-04-23
 */

#include "DFRobot_10DOF.h"
#include "SPI.h"

/*
 * pin_dataRdy  ----> int1
 * pin_accelInt ----> int2
 */
#ifdef __AVR__
uint8_t       pin_cs = 4, pin_dataRdy = 2, pin_accelInt = 3;
#else
uint8_t       pin_cs = D4, pin_dataRdy = D2, pin_accelInt = D3;
#endif

DFRobot_10DOF_SPI dof(pin_cs);
uint8_t       dataRdyFlag = 0, accelIntFlag = 0;

//test data ready interrupt
void dataRdyInterrupt()
{
  dataRdyFlag = 1;
}

//test accelerometer overflow interrupt
void accelInterrupt()
{
  accelIntFlag = 1;
}

void setup()
{
  Serial.begin(115200);
  delay(500);
  pinMode(pin_dataRdy, INPUT_PULLUP);
  pinMode(pin_accelInt, INPUT_PULLUP);
  attachInterrupt(pin_dataRdy, dataRdyInterrupt, FALLING);
  attachInterrupt(pin_accelInt, accelInterrupt, FALLING);
  while(!Serial);
  SPI.begin();
  Serial.println();
  Serial.println("10dof test");

  while(dof.begin() != 0) {  //spend time 500ms
    Serial.println("dof begin faild !");
    delay(2000);
  }
  Serial.println("dof begin successful !");
  delay(2000);
}

void loop()
{
  float pitch = 0, roll = 0, yaw = 0;
  dof.readAttitude(&pitch, &roll, &yaw); /* read euler angle */
  /* In order to match the API of the upper computer, X ----> pitch */
  Serial.print("pitch:");
  Serial.print(((float)pitch), 3);
  Serial.print(" ");
  /* In order to match the API of the upper computer, Y ----> roll  */
  Serial.print("roll:");
  Serial.print(((float)roll), 3);
  Serial.print(" ");
  /* In order to match the API of the upper computer, Z ----> yaw   */
  Serial.print("yaw:");
  Serial.print(((float)yaw), 3);
  Serial.println(" ");
  delay(80);
}

6.3.2程序功能说明: 通过SPI接口读取10DOF的仰角、翻滚角、偏航角、陀螺仪三轴原始数据、加速计三轴原始数据、温度与大致海拔高度,并将读取到的数据通过串口打印出来。

/*
 * file 10DOF.ino
 *
 * @ https://github.com/DFRobot/DFRobot_10DOF
 *
 * connect with your board (please reference board compatibility)
 *
 * 10-DOF inertial guidance sensor, providing accurate Euler angle information: When the USB access,
 * can cooperate with our software Imu_show(https://github.com/DFRobot/DFRobot_IMU_Show)
 * real-time transmission display current posture (in the default standard mode),
 * and other MCU through the SPI interface Communication transmission attitude information and temperature, altitude information.
 *
 * Copyright   [DFRobot](http://www.dfrobot.com), 2016
 * Copyright   GNU Lesser General Public License
 *
 * version  V1.0
 * date  2018-04-23
 */

#include "DFRobot_10DOF.h"
#include "SPI.h"

/*
 * pin_dataRdy  ----> int1
 * pin_accelInt ----> int2
 */
#ifdef __AVR__
uint8_t       pin_cs = 4, pin_dataRdy = 2, pin_accelInt = 3;
#else
uint8_t       pin_cs = D4, pin_dataRdy = D2, pin_accelInt = D3;
#endif

DFRobot_10DOF_SPI dof(pin_cs);
uint8_t       dataRdyFlag = 0, accelIntFlag = 0;

static inline void readAttitude(void)
{
  Serial.println();
  float pitch = 0, roll = 0, yaw = 0;
  dof.readAttitude(&pitch, &roll, &yaw);
  Serial.println("attitude: ");
  Serial.print("pitch :");
  Serial.print(((float)pitch));
  Serial.print(" ");
  Serial.print("roll :");
  Serial.print(((float)roll));
  Serial.print(" ");
  Serial.print("yaw :");
  Serial.print(((float)yaw));
  Serial.print(" ");

  Serial.println();
  int16_t GX = 0, GY = 0, GZ = 0;
  dof.readGyro(&GX, &GY, &GZ);
  Serial.println("gyroscope: ");
  Serial.print("GX :");
  Serial.print(GX);
  Serial.print(" ");
  Serial.print("GY :");
  Serial.print(GY);
  Serial.print(" ");
  Serial.print("GZ :");
  Serial.print(GZ);
  Serial.print(" ");

  Serial.println();
  int16_t AX = 0, AY = 0, AZ = 0;
  dof.readAccelerometer(&AX, &AY, &AZ);
  Serial.println("accelerometer: ");
  Serial.print("AX :");
  Serial.print(AX);
  Serial.print(" ");
  Serial.print("AY :");
  Serial.print(AY);
  Serial.print(" ");
  Serial.print("AZ :");
  Serial.print(AZ);
  Serial.print(" ");
}

static inline void readEnvironment(void)
{
  Serial.println();
  int16_t temp = 0, humi = 0;
  int32_t pre;
  float   alt;
  dof.readEnvironment(&temp, &alt);
  Serial.print("temp: ");
  Serial.print(((float)temp) / 100);
  Serial.print(" ");
  Serial.print("altitude: ");
  Serial.print(alt);
  Serial.print(" ");
}

//test data ready interrupt
void dataRdyInterrupt()
{
  dataRdyFlag = 1;
}

//test accelerometer overflow interrupt
void accelInterrupt()
{
  accelIntFlag = 1;
}

void setup()
{
  Serial.begin(115200);
  delay(500);
  pinMode(pin_dataRdy, INPUT_PULLUP);
  pinMode(pin_accelInt, INPUT_PULLUP);
  attachInterrupt(pin_dataRdy, dataRdyInterrupt, FALLING);
  attachInterrupt(pin_accelInt, accelInterrupt, FALLING);
  while(!Serial);
  SPI.begin();
  Serial.println();
  Serial.println("10dof test");

  while(dof.begin() != 0) {  //spend time 500ms
    Serial.println("dof begin faild !");
    delay(2000);
  }
  Serial.println("dof begin successful !");
  delay(2000);
}

void loop()
{
  unsigned long       lastMillis = 0;
  Serial.println();

  Serial.println();
  Serial.println("test mode standerd");  //output rate 75hz in standerd mode
  delay(1000);
  dof.setMode(e10DOF_MODE_STANDERD);
  lastMillis = millis();
  while((millis() - lastMillis) < 1000) {
    readAttitude();
    readEnvironment();
    delay(1000 / 10);
  }
  delay(1000);
  Serial.println();

  Serial.println();
  Serial.println("test mode fast");  //output rate 500hz in fast mode and do not reference yaw data
  delay(1000);
  dof.setMode(e10DOF_MODE_FAST);
  lastMillis = millis();
  while((millis() - lastMillis) < 1000) {
    readAttitude();
    readEnvironment();
    delay(1000 / 10);
  }
  delay(1000);
  Serial.println();

  Serial.println();
  Serial.println("test data ready interrupt");  //when attitude data is ready, low level on pin 'int1'
  delay(1000);
  dof.enableDataInt();
  lastMillis = millis();
  while((millis() - lastMillis) < 1000) {
    if(dataRdyFlag) {
      dataRdyFlag = 0;
      Serial.println();
      float pitch = 0, roll = 0, yaw = 0;
      dof.readAttitude(&pitch, &roll, &yaw);
      Serial.println("attitude: ");
      Serial.print("pitch :");
      Serial.print(((float)pitch));
      Serial.print(" ");
      Serial.print("roll :");
      Serial.print(((float)roll));
      Serial.print(" ");
      Serial.print("yaw :");
      Serial.print(((float)yaw));
      Serial.print(" ");
    }
  }
  dof.disableDataInt();
  delay(1000);
  Serial.println();

  Serial.println();
  Serial.println("test accelerometer interrupt");  //when accelerometer is overflow, low level on pin 'int2'
  delay(1000);
  dof.setAccelInt(0, 0);
  dof.enableAccelInt();
  lastMillis = millis();
  while((millis() - lastMillis) < 1000) {
    if(accelIntFlag) {
      accelIntFlag = 0;
      Serial.println();
      int16_t AX = 0, AY = 0, AZ = 0;
      dof.readAccelerometer(&AX, &AY, &AZ);
      Serial.println("accelerometer: ");
      Serial.print("AX :");
      Serial.print(AX);
      Serial.print(" ");
      Serial.print("AY :");
      Serial.print(AY);
      Serial.print(" ");
      Serial.print("AZ :");
      Serial.print(AZ);
      Serial.print(" ");
    }
  }
  dof.disableAccelInt();
  delay(1000);
  Serial.println();

  Serial.println();
  Serial.println("test LED control");  //test LED conrol on board
  dof.disableLED();
  delay(4000);
  dof.enableLED();
  delay(2000);
  Serial.println();

  Serial.println();
  Serial.println("test stop mode");  //test stop mode
  delay(1000);
  dof.setMode(e10DOF_MODE_STOP);
  delay(4000);
  dof.weakUp();  //spend time 500ms
  delay(500);
  Serial.println();

  Serial.println("--------  test end  --------");
  delay(1000);
}

pitch为俯仰角,roll为翻滚角,yaw为偏航角,GX、GY、GZ分别为陀螺仪三轴的原始数据,AX、AY、AZ分别为加速度计的三轴原始数据,temp为温度,altitude为大致海拔。

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