Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names
stm32 HAL库移植DMP库
需积分: 0 89 浏览量
更新于2023-10-29
4
收藏 5.48MB RAR 举报
STM32 HAL库移植DMP库是将数字运动处理器(Digital Motion Processor, DMP)的固件集成到STM32微控制器中,以便利用其处理MPU6050陀螺仪和加速度传感器的数据。MPU6050是一款集成了3轴陀螺仪和3轴加速度计的传感器,常用于姿态测量,如Pitch(俯仰角)、Roll(翻滚角)和Yaw(偏航角)。DMP库能够减轻MCU的计算负担,提供实时、精确的传感器数据处理。
移植过程通常包括以下几个关键步骤:
1. **理解DMP库**:你需要熟悉DMP库的工作原理,它如何处理传感器数据并计算出Pitch、Roll和Yaw。DMP库通常包含预处理的滤波算法,如数字低通滤波器,以消除噪声和漂移。
2. **配置HAL库**:STM32 HAL库是一个硬件抽象层,提供了一组标准化的API,简化了对微控制器硬件的操作。在移植DMP库之前,需要正确配置HAL库以与MPU6050通信,这涉及到I2C接口的初始化,包括时钟设置、GPIO配置、中断设置等。
3. **下载DMP固件**:从供应商网站获取MPU6050的DMP固件,并将其加载到设备的内部闪存。这个过程可能涉及写入特定的寄存器或者使用特定的加载协议。
4. **初始化DMP**:在STM32程序中调用DMP初始化函数,设置DMP的工作模式,如数据输出速率、校准参数等。确保正确配置DMP的中断,以便在新数据可用时得到通知。
5. **处理DMP输出**:DMP会通过中断向MCU发送处理过的传感器数据。在中断服务程序中,读取这些数据并解码,然后根据需要转换为Pitch、Roll和Yaw角度。
6. **误差校正和滤波**:尽管DMP已经进行了初步的数据处理,但可能还需要额外的滤波和校正算法来提高精度,如互补滤波器(Complementary Filter)或卡尔曼滤波器(Kalman Filter)。
7. **测试和调试**:在实际应用中,进行系统测试,检查传感器数据的稳定性、精度和响应时间。根据测试结果进行必要的调整和优化。
8. **软件结构和代码组织**:确保移植后的代码结构清晰,易于维护。考虑使用模块化设计,将与MPU6050相关的功能封装成独立的函数或类。
9. **mpu6050_test文件**:这个文件可能是移植过程中的测试程序,包含了与MPU6050交互的基本功能,如初始化、数据读取和简单测试。通过分析这个文件,你可以更好地了解移植的具体实现细节。
STM32 HAL库移植DMP库是一项涉及硬件接口、固件加载、数据处理等多个环节的任务。每个步骤都需要仔细理解和操作,以确保最终系统的稳定性和准确性。同时,持续的测试和优化是保证系统性能的关键。

只会HelloWorld.
- 粉丝: 15
最新资源
- Android Course Work-移动应用开发资源
- python教案.pdf
- 网络技术及应用课件电子教案课件整套教学课件.pptx
- 本科毕业论文:LDPC码的编译码算法研究.pdf
- 网络营销教案完整版讲义.doc
- 史丰收速算法是以史丰收教授的名字命名的.pdf
- 数学教案-小数的连除、除加、除减混合运算和简便算法.docx
- 泸州市十郎区块链同城网人事管理系统.doc
- 项目管理理论的重大科技模式研究.doc
- 自动化生产实习心得体会.docx
- 银行软件测试面试题目.docx
- 学校网络规划投标书.doc
- 网络课程设计标准市公开课一等奖百校联赛优质课金奖名师赛课获奖课件.ppt
- 陕西省项目管理师报考条件.docx
- 使用正版软件自查报告.docx
- 武汉大学网络营销().pptx