零知开源——STM32F103RBT6驱动 ICM20948 九轴传感器及 vofa + 上位机可视化教程

/* ICM20948完整优化代码 */
#include "AHRSAlgorithms.h"
#include "ICM20948.h"#define AHRS true
#define SerialDebug true int myLed = LED_BUILTIN;  
ICM20948 myIMU;void setup() {pinMode(myLed, OUTPUT);digitalWrite(myLed, HIGH);Serial.begin(115200);Wire.begin();// 初始化与自检if(myIMU.begin()) {Serial.println("ICM20948初始化成功");// 执行两级校准myIMU.calibrateICM20948(myIMU.gyroBias, myIMU.accelBias);float magBias[3], magScale[3];myIMU.magCalICM20948(magBias, magScale);// 设置优化分辨率myIMU.getAres(); myIMU.getGres();myIMU.getMres();} else {Serial.println("传感器初始化失败!");while(1);}
}void loop() {// 数据读取if (myIMU.readByte(ICM20948_ADDRESS, INT_STATUS_1) & 0x01) {myIMU.readAccelData(myIMU.accelCount);myIMU.readGyroData(myIMU.gyroCount);myIMU.readMagData(myIMU.magCount);// 单位转换myIMU.ax = (float)myIMU.accelCount[0] * myIMU.aRes;myIMU.ay = (float)myIMU.accelCount[1] * myIMU.aRes;myIMU.az = (float)myIMU.accelCount[2] * myIMU.aRes;myIMU.gx = (float)myIMU.gyroCount[0] * myIMU.gRes;myIMU.gy = (float)myIMU.gyroCount[1] * myIMU.gRes;myIMU.gz = (float)myIMU.gyroCount[2] * myIMU.gRes;myIMU.mx = (float)myIMU.magCount[0] * myIMU.mRes - myIMU.magBias[0];myIMU.my = (float)myIMU.magCount[1] * myIMU.mRes - myIMU.magBias[1];myIMU.mz = (float)myIMU.magCount[2] * myIMU.mRes - myIMU.magBias[2];}// 更新时间基准myIMU.updateTime();// 姿态解算（使用优化参数）MahonyQuaternionUpdate(myIMU.ax, myIMU.ay, myIMU.az,myIMU.gx * DEG_TO_RAD, myIMU.gy * DEG_TO_RAD,myIMU.gz * DEG_TO_RAD,myIMU.my, myIMU.mx, myIMU.mz, // 轴序修正myIMU.deltat);// 转换为欧拉角const float* q = getQ();myIMU.yaw   = atan2(2.0f*(q[1]*q[2] + q[0]*q[3]), q[0]*q[0] + q[1]*q[1] - q[2]*q[2] - q[3]*q[3]) * RAD_TO_DEG;myIMU.pitch = -asin(2.0f*(q[1]*q[3] - q[0]*q[2])) * RAD_TO_DEG;myIMU.roll  = atan2(2.0f*(q[0]*q[1] + q[2]*q[3]),q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]) * RAD_TO_DEG;// 发送到VOFA+Serial.print(myIMU.yaw, 1);   // yawSerial.print(",");Serial.print(myIMU.pitch, 1); // pitchSerial.print(",");Serial.println(myIMU.roll, 1);// rolldelay(10); // 100Hz输出
}

// 加速度计量程 (AFS_2G/AFS_4G/AFS_8G/AFS_16G)
void ICM20948::getAres()
{switch (Ascale){// Possible accelerometer scales (and their register bit settings) are:// 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs  (11).// Here's a bit of an algorith to calculate DPS/(ADC tick) based on that// 2-bit value:case AFS_2G:aRes = 2.0f / 32768.0f;break;case AFS_4G:aRes = 4.0f / 32768.0f;break;case AFS_8G:aRes = 8.0f / 32768.0f;break;case AFS_16G:aRes = 16.0f / 32768.0f;break;}
}// 陀螺仪量程 (GFS_250DPS/GFS_500DPS/GFS_1000DPS/GFS_2000DPS)
void ICM20948::getGres()
{switch (Gscale){// Possible gyro scales (and their register bit settings) are:// 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).// Here's a bit of an algorith to calculate DPS/(ADC tick) based on that// 2-bit value:case GFS_250DPS:gRes = 250.0f / 32768.0f;break;case GFS_500DPS:gRes = 500.0f / 32768.0f;break;case GFS_1000DPS:gRes = 1000.0f / 32768.0f;break;case GFS_2000DPS:gRes = 2000.0f / 32768.0f;break;}
}

float gyroBias[3], accelBias[3];
IMU.calibrateICM20948(gyroBias, accelBias); // 上电时执行一次

// 原参数（漂移明显）
// #define Kp 2.0f * 5.0f
// #define Ki 0.0f// 优化参数（大幅改善漂移）
#define Kp 3.0f    // 降低比例增益，减少高频噪声响应
#define Ki 0.1f   // 降低积分增益，抑制累积误差