十轴IMU模块-AHRS角度姿态、加速度计、磁力计、气压陀螺仪传感器

Big_潘大师2025-12-20 18:15

目录

一、模块介绍

1、硬件说明

2、参数功能

3、尺寸参数

[二、陀螺仪数据 获取](#二、陀螺仪数据 获取)

1、PC通信

（1）连接

（2）串口读取

（3）协议介绍

2、STM32串口读取数据

（1）接线说明

（2）关键代码说明

（3）串口读取STM32数据

3、Arduino串口读取数据

（1）接线说明

（2）关键代码说明

(3)串口调试助手USB转TTL连接Arduino

4、STM32-IIC读取数据

（1）接线说明

（2）关键代码说明

（3）串口调试助手读取数据

5、Arduino-IIC读取数据

（1）接线说明

（2）关键代码说明

（3）串口调试助手读Arduino数据

三、工程下载连接

一、模块介绍

1、硬件说明

2、参数功能

3、尺寸参数

二、陀螺仪数据 获取

1、PC通信

（1）连接

（2）串口读取

（3）协议介绍

各个指令详细说明，见下载连接

自动返回解析

共82byte数据

2、STM32串口读取数据

STM32F103C8T6核心板

（1）接线说明

（2）关键代码说明

函数说明：

IMU_UART_Process(): 读取缓存的数据，并调用_parse_frame_data解析符合通信协议的数据。

_parse_frame_data()：解析数据。

关键代码：

复制代码 
//Process RX ring buffer, parse frames and update internal cache
​
void IMU_UART_Process(void)
{
    enum {
        RX_STATE_EXPECT_HEAD1 = 0,
        RX_STATE_EXPECT_HEAD2,
        RX_STATE_EXPECT_LENGTH,
        RX_STATE_EXPECT_FUNCTION,
        RX_STATE_COLLECT_DATA
    };
​
    static uint8_t  rx_state = RX_STATE_EXPECT_HEAD1;
    static uint8_t  frame_length = 0;
    static uint8_t  frame_function = 0;
    static uint8_t  frame_buffer[64]; /* 数据区 + 校验 / data section + checksum */
    static uint16_t frame_index = 0;
​
    uint8_t current_byte = 0;
​
    while (_rxbuf_pop(&current_byte) == 0) {
        switch (rx_state) {
        case RX_STATE_EXPECT_HEAD1:
            rx_state = (current_byte == FRAME_HEAD1) ? RX_STATE_EXPECT_HEAD2 : RX_STATE_EXPECT_HEAD1;
            break;
​
        case RX_STATE_EXPECT_HEAD2:
            rx_state = (current_byte == FRAME_HEAD2) ? RX_STATE_EXPECT_LENGTH : RX_STATE_EXPECT_HEAD1;
            break;
​
        case RX_STATE_EXPECT_LENGTH:
            frame_length = current_byte;
            rx_state = RX_STATE_EXPECT_FUNCTION;
            break;
​
        case RX_STATE_EXPECT_FUNCTION:
            frame_function = current_byte;
            frame_index = 0;
            rx_state = RX_STATE_COLLECT_DATA;
            break;
​
        case RX_STATE_COLLECT_DATA: {
            uint16_t data_length = (frame_length >= 4) ? (uint16_t)(frame_length - 4) : 0;
            if (data_length == 0 || data_length > sizeof(frame_buffer)) {
                rx_state = RX_STATE_EXPECT_HEAD1;
                break;
            }
​
            frame_buffer[frame_index++] = current_byte;
            if (frame_index >= data_length) {
                uint8_t calculated_checksum = (uint8_t)(FRAME_HEAD1 + FRAME_HEAD2 + frame_length + frame_function);
                for (uint16_t i = 0; i < data_length - 1; ++i) {
                    calculated_checksum = (uint8_t)(calculated_checksum + frame_buffer[i]);
                }
​
                uint8_t received_checksum = frame_buffer[data_length - 1];
                if (calculated_checksum == received_checksum) {
                    _parse_frame_data(frame_function, frame_buffer);
                }
                rx_state = RX_STATE_EXPECT_HEAD1;
            }
        } break;
​
        default:
            rx_state = RX_STATE_EXPECT_HEAD1;
            break;
        }
    }
}
​
​
/* ---------- 解析数据帧 / Parse one complete frame ---------- */
static void _parse_frame_data(uint8_t frame_function, const uint8_t *frame_data)
{
    if (frame_function == IMU_FUNC_RAW_ACCEL) {
        float accel_ratio = 16.0f / 32767.0f;
        s_ax = to_int16(&frame_data[0])  * accel_ratio;
        s_ay = to_int16(&frame_data[2])  * accel_ratio;
        s_az = to_int16(&frame_data[4])  * accel_ratio;
​
        float deg_to_rad = 3.14159265358979323846f / 180.0f;
        float gyro_ratio  = (2000.0f / 32767.0f) * deg_to_rad;
        s_gx = to_int16(&frame_data[6])  * gyro_ratio;
        s_gy = to_int16(&frame_data[8])  * gyro_ratio;
        s_gz = to_int16(&frame_data[10]) * gyro_ratio;
​
        float mag_ratio = 800.0f / 32767.0f;
        s_mx = to_int16(&frame_data[12]) * mag_ratio;
        s_my = to_int16(&frame_data[14]) * mag_ratio;
        s_mz = to_int16(&frame_data[16]) * mag_ratio;
    } else if (frame_function == IMU_FUNC_EULER) {
        s_roll  = to_float(&frame_data[0]);
        s_pitch = to_float(&frame_data[4]);
        s_yaw   = to_float(&frame_data[8]);
    } else if (frame_function == IMU_FUNC_QUAT) {
        s_q0 = to_float(&frame_data[0]);
        s_q1 = to_float(&frame_data[4]);
        s_q2 = to_float(&frame_data[8]);
        s_q3 = to_float(&frame_data[12]);
    } else if (frame_function == IMU_FUNC_BARO) {
        s_height            = to_float(&frame_data[0]);
        s_temperature       = to_float(&frame_data[4]);
        s_pressure          = to_float(&frame_data[8]);
        s_pressure_contrast = to_float(&frame_data[12]);
    } else if (frame_function == IMU_FUNC_VERSION) {
        s_version_high = frame_data[0];
        s_version_mid  = frame_data[1];
        s_version_low  = frame_data[2];
    } else if (frame_function == IMU_FUNC_RETURN_STATE) {
        s_last_rx_function = frame_data[0];
        s_last_rx_state    = (int16_t)frame_data[1];
    }
}

（3）串口读取STM32数据

3、Arduino串口读取数据

（1）接线说明

（2）关键代码说明

函数说明：

IMU_UART_Process(): 读取缓存的数据，并调用_parse_frame_data解析符合通信协议的数据。

_parse_frame_data()：解析数据。

关键代码：

复制代码 
//解析环形缓冲中的数据，提取完整帧并更新缓存
​
//Process RX ring buffer, parse frames and update internal cache
​
void IMU_UART_Process(void)
{
    enum {
        RX_STATE_EXPECT_HEAD1 = 0,
        RX_STATE_EXPECT_HEAD2,
        RX_STATE_EXPECT_LENGTH,
        RX_STATE_EXPECT_FUNCTION,
        RX_STATE_COLLECT_DATA
    };
​
    static uint8_t  rx_state = RX_STATE_EXPECT_HEAD1;
    static uint8_t  frame_length = 0;
    static uint8_t  frame_function = 0;
    static uint8_t  frame_buffer[64]; /* 数据区 + 校验 / data section + checksum */
    static uint16_t frame_index = 0;
​
    uint8_t current_byte = 0;
​
    while (_rxbuf_pop(&current_byte) == 0) {
        switch (rx_state) {
        case RX_STATE_EXPECT_HEAD1:
            rx_state = (current_byte == FRAME_HEAD1) ? RX_STATE_EXPECT_HEAD2 : RX_STATE_EXPECT_HEAD1;
            break;
​
        case RX_STATE_EXPECT_HEAD2:
            rx_state = (current_byte == FRAME_HEAD2) ? RX_STATE_EXPECT_LENGTH : RX_STATE_EXPECT_HEAD1;
            break;
​
        case RX_STATE_EXPECT_LENGTH:
            frame_length = current_byte;
            rx_state = RX_STATE_EXPECT_FUNCTION;
            break;
​
        case RX_STATE_EXPECT_FUNCTION:
            frame_function = current_byte;
            frame_index = 0;
            rx_state = RX_STATE_COLLECT_DATA;
            break;
​
        case RX_STATE_COLLECT_DATA: {
            uint16_t data_length = (frame_length >= 4) ? (uint16_t)(frame_length - 4) : 0;
            if (data_length == 0 || data_length > sizeof(frame_buffer)) {
                rx_state = RX_STATE_EXPECT_HEAD1;
                break;
            }
​
            frame_buffer[frame_index++] = current_byte;
            if (frame_index >= data_length) {
                uint8_t calculated_checksum = (uint8_t)(FRAME_HEAD1 + FRAME_HEAD2 + frame_length + frame_function);
                for (uint16_t i = 0; i < data_length - 1; ++i) {
                    calculated_checksum = (uint8_t)(calculated_checksum + frame_buffer[i]);
                }
​
                uint8_t received_checksum = frame_buffer[data_length - 1];
                if (calculated_checksum == received_checksum) {
                    _parse_frame_data(frame_function, frame_buffer);
                }
                rx_state = RX_STATE_EXPECT_HEAD1;
            }
        } break;
​
        default:
            rx_state = RX_STATE_EXPECT_HEAD1;
            break;
        }
    }
}
​
​
/* ---------- 解析数据帧 / Parse one complete frame ---------- */
static void _parse_frame_data(uint8_t frame_function, const uint8_t *frame_data)
{
    if (frame_function == IMU_FUNC_RAW_ACCEL) {
        float accel_ratio = 16.0f / 32767.0f;
        s_ax = to_int16(&frame_data[0])  * accel_ratio;
        s_ay = to_int16(&frame_data[2])  * accel_ratio;
        s_az = to_int16(&frame_data[4])  * accel_ratio;
​
        float deg_to_rad = 3.14159265358979323846f / 180.0f;
        float gyro_ratio  = (2000.0f / 32767.0f) * deg_to_rad;
        s_gx = to_int16(&frame_data[6])  * gyro_ratio;
        s_gy = to_int16(&frame_data[8])  * gyro_ratio;
        s_gz = to_int16(&frame_data[10]) * gyro_ratio;
​
        float mag_ratio = 800.0f / 32767.0f;
        s_mx = to_int16(&frame_data[12]) * mag_ratio;
        s_my = to_int16(&frame_data[14]) * mag_ratio;
        s_mz = to_int16(&frame_data[16]) * mag_ratio;
    } else if (frame_function == IMU_FUNC_EULER) {
        s_roll  = to_float(&frame_data[0]);
        s_pitch = to_float(&frame_data[4]);
        s_yaw   = to_float(&frame_data[8]);
    } else if (frame_function == IMU_FUNC_QUAT) {
        s_q0 = to_float(&frame_data[0]);
        s_q1 = to_float(&frame_data[4]);
        s_q2 = to_float(&frame_data[8]);
        s_q3 = to_float(&frame_data[12]);
    } else if (frame_function == IMU_FUNC_BARO) {
        s_height            = to_float(&frame_data[0]);
        s_temperature       = to_float(&frame_data[4]);
        s_pressure          = to_float(&frame_data[8]);
        s_pressure_contrast = to_float(&frame_data[12]);
    } else if (frame_function == IMU_FUNC_VERSION) {
        s_version_high = frame_data[0];
        s_version_mid  = frame_data[1];
        s_version_low  = frame_data[2];
    } else if (frame_function == IMU_FUNC_RETURN_STATE) {
        s_last_rx_function = frame_data[0];
        s_last_rx_state    = (int16_t)frame_data[1];
    }
}

(3)串口调试助手USB转TTL连接Arduino

4、STM32-IIC读取数据

（1）接线说明

（2）关键代码说明

函数说明：

IMU_I2C_ReadAccelerometer():读取加速度数据（单位 g）

IMU_I2C_ReadGyroscope():读取角速度（单位 rad/s）

IMU_I2C_ReadQuaternion():读取四元数

IMU_I2C_ReadEuler(): 读取欧拉角（弧度）

关键代码：

复制代码 
/**
 * @brief 读取加速度数据（单位 g）
 *        Read acceleration in g.
 */
int IMU_I2C_ReadAccelerometer(float out[3])
{
    uint8_t register_data[6];
    if (read_register(IMU_FUNC_RAW_ACCEL, register_data, 6) != 0) {
        return -1;
    }
    if (out != NULL) {
        float ratio = 16.0f / 32767.0f;
        out[0] = to_int16(&register_data[0]) * ratio;
        out[1] = to_int16(&register_data[2]) * ratio;
        out[2] = to_int16(&register_data[4]) * ratio;
    }
    return 0;
}
​
/**
 * @brief 读取角速度（单位 rad/s）
 *        Read angular velocity in rad/s.
 */
int IMU_I2C_ReadGyroscope(float out[3])
{
    uint8_t register_data[6];
    if (read_register(IMU_FUNC_RAW_GYRO, register_data, 6) != 0) {
        return -1;
    }
    if (out != NULL) {
        float ratio = (2000.0f / 32767.0f) * (3.1415926f / 180.0f);
        out[0] = to_int16(&register_data[0]) * ratio;
        out[1] = to_int16(&register_data[2]) * ratio;
        out[2] = to_int16(&register_data[4]) * ratio;
    }
    return 0;
}
​
/**
 * @brief 读取磁场强度（单位 uT）
 *        Read magnetic field strength in micro tesla.
 */
int IMU_I2C_ReadMagnetometer(float out[3])
{
    uint8_t register_data[6];
    if (read_register(IMU_FUNC_RAW_MAG, register_data, 6) != 0) {
        return -1;
    }
    if (out != NULL) {
        float ratio = 800.0f / 32767.0f;
        out[0] = to_int16(&register_data[0]) * ratio;
        out[1] = to_int16(&register_data[2]) * ratio;
        out[2] = to_int16(&register_data[4]) * ratio;
    }
    return 0;
}
​
/**
 * @brief 读取四元数
 *        Read quaternion (w, x, y, z).
 */
int IMU_I2C_ReadQuaternion(float out[4])
{
    uint8_t register_data[16];
    if (read_register(IMU_FUNC_QUAT, register_data, 16) != 0) {
        return -1;
    }
    if (out != NULL) {
        out[0] = to_float(&register_data[0]);
        out[1] = to_float(&register_data[4]);
        out[2] = to_float(&register_data[8]);
        out[3] = to_float(&register_data[12]);
    }
    return 0;
}
​
/**
 * @brief 读取欧拉角（弧度）
 *        Read Euler angles (rad).
 */
int IMU_I2C_ReadEuler(float out[3])
{
    uint8_t register_data[12];
    if (read_register(IMU_FUNC_EULER, register_data, 12) != 0) {
        return -1;
    }
    if (out != NULL) {
        const float RAD2DEG = 57.2957795f;
        out[0] = to_float(&register_data[0]) * RAD2DEG;
        out[1] = to_float(&register_data[4]) * RAD2DEG;
        out[2] = to_float(&register_data[8]) * RAD2DEG;
    }
    return 0;
}

（3）串口调试助手读取数据

5、Arduino-IIC读取数据

（1）接线说明

（2）关键代码说明

函数说明：

IMU_I2C_ReadAccelerometer():读取加速度数据（单位 g）

IMU_I2C_ReadGyroscope():读取角速度（单位 rad/s）

IMU_I2C_ReadQuaternion():读取四元数

IMU_I2C_ReadEuler(): 读取欧拉角（弧度）

复制代码 
/**
 * @brief 读取加速度数据（单位 g）
 *        Read acceleration in g.
 */
int IMU_I2C_ReadAccelerometer(float out[3])
{
    uint8_t register_data[6];
    if (read_register(IMU_FUNC_RAW_ACCEL, register_data, 6) != 0) {
        return -1;
    }
    if (out != NULL) {
        float ratio = 16.0f / 32767.0f;
        out[0] = to_int16(&register_data[0]) * ratio;
        out[1] = to_int16(&register_data[2]) * ratio;
        out[2] = to_int16(&register_data[4]) * ratio;
    }
    return 0;
}
​
/**
 * @brief 读取角速度（单位 rad/s）
 *        Read angular velocity in rad/s.
 */
int IMU_I2C_ReadGyroscope(float out[3])
{
    uint8_t register_data[6];
    if (read_register(IMU_FUNC_RAW_GYRO, register_data, 6) != 0) {
        return -1;
    }
    if (out != NULL) {
        float ratio = (2000.0f / 32767.0f) * (3.1415926f / 180.0f);
        out[0] = to_int16(&register_data[0]) * ratio;
        out[1] = to_int16(&register_data[2]) * ratio;
        out[2] = to_int16(&register_data[4]) * ratio;
    }
    return 0;
}
​
/**
 * @brief 读取磁场强度（单位 uT）
 *        Read magnetic field strength in micro tesla.
 */
int IMU_I2C_ReadMagnetometer(float out[3])
{
    uint8_t register_data[6];
    if (read_register(IMU_FUNC_RAW_MAG, register_data, 6) != 0) {
        return -1;
    }
    if (out != NULL) {
        float ratio = 800.0f / 32767.0f;
        out[0] = to_int16(&register_data[0]) * ratio;
        out[1] = to_int16(&register_data[2]) * ratio;
        out[2] = to_int16(&register_data[4]) * ratio;
    }
    return 0;
}
​
/**
 * @brief 读取四元数
 *        Read quaternion (w, x, y, z).
 */
int IMU_I2C_ReadQuaternion(float out[4])
{
    uint8_t register_data[16];
    if (read_register(IMU_FUNC_QUAT, register_data, 16) != 0) {
        return -1;
    }
    if (out != NULL) {
        out[0] = to_float(&register_data[0]);
        out[1] = to_float(&register_data[4]);
        out[2] = to_float(&register_data[8]);
        out[3] = to_float(&register_data[12]);
    }
    return 0;
}
​
/**
 * @brief 读取欧拉角（弧度）
 *        Read Euler angles (rad).
 */
int IMU_I2C_ReadEuler(float out[3])
{
    uint8_t register_data[12];
    if (read_register(IMU_FUNC_EULER, register_data, 12) != 0) {
        return -1;
    }
    if (out != NULL) {
        const float RAD2DEG = 57.2957795f;
        out[0] = to_float(&register_data[0]) * RAD2DEG;
        out[1] = to_float(&register_data[4]) * RAD2DEG;
        out[2] = to_float(&register_data[8]) * RAD2DEG;
    }
    return 0;
}

（3）串口调试助手读Arduino数据

三、工程下载连接

https://download.csdn.net/download/panjinliang066333/92475902

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