【学习记录】IIC驱动ICM42670+卡尔曼滤波+四元数姿态角解算

原创最新推荐文章于 2026-05-09 15:05:37 发布 8.2k 阅读 AI写同款

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手把手教你将ICM42670姿态数据接入匿名上位机V7：从串口打印到3D模型实时显示本文详细介绍了如何将ICM42670姿态数据通过51单片机接入匿名上位机V7，实现从串口打印到3D模型实时显示的完整流程。重点讲解了数据流设计、协议解析、串口传输优化及上位机调试技巧，帮助开发者解决资源受限环境下的工程实践问题，提升姿态数据可视化效果。阅读详情

AI摘要

该博客记录了使用IIC驱动ICM42670陀螺仪的过程，单片机平台采用GD32f305VE。介绍了iic初始化代码、驱动ICM42670的iic时序，配置好量程、频率和低噪声模式可查实时数据。还提及姿态解算和滤波算法，测试功能正常，但偏航角因无磁力计矫正数据较差。

ICM42670陀螺仪可以使用iic驱动，单片机平台使用GD32f305VE。
在这里插入图片描述

iic初始化代码如下 .c文件

#include "M_IIC.h"
#include <stdio.h>
#include "systick.h"

/*!
    \brief      configure the GPIO ports
    \param[in]  none
    \param[out] none
    \retval     none
*/
void iic_gpio_config(void)
{
   
   
    /* enable GPIOB clock */
	//  gpio_pin_remap_config(GPIO_SWJ_SWDPENABLE_REMAP, ENABLE);
    rcu_periph_clock_enable(RCU_GPIO_I2C);
   // rcu_periph_clock_enable(RCU_AF);
    /* connect PB6 to I2C_SCL */
    /* connect PB7 to I2C_SDA */
    gpio_init(I2C_SCL_PORT, GPIO_MODE_AF_OD, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
    gpio_init(I2C_SDA_PORT, GPIO_MODE_AF_OD, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
}

/*!
    \brief      configure the I2C interfaces
    \param[in]  none
    \param[out] none
    \retval     none
*/
void i2c_config(void)
{
   
   
	  iic_gpio_config();
    /* enable I2C clock */
    rcu_periph_clock_enable(RCU_I2C);
    /* configure I2C clock */
    i2c_clock_config(I2CX, I2C_SPEED, I2C_DTCY_2);
    /* configure I2C address */
    i2c_mode_addr_config(I2CX, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, I2CX_SLAVE_ADDRESS7);
    /* enable I2CX */
    i2c_enable(I2CX);
    /* enable acknowledge */
    i2c_ack_config(I2CX, I2C_ACK_ENABLE);
}

/*!
    \brief      reset i2c bus
    \param[in]  none
    \param[out] none
    \retval     none
*/
void i2c_bus_reset()
{
   
   
    i2c_deinit(I2CX);
    /* configure SDA/SCL for GPIO */
    GPIO_BC(I2C_SCL_PORT) |= I2C_SCL_PIN;
    GPIO_BC(I2C_SDA_PORT) |= I2C_SDA_PIN;
    gpio_init(I2C_SCL_PORT, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
    gpio_init(I2C_SDA_PORT, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
    __NOP();
    __NOP();
    __NOP();
    __NOP();
    __NOP();
    GPIO_BOP(I2C_SCL_PORT) |= I2C_SCL_PIN;
    __NOP();
    __NOP();
    __NOP();
    __NOP();
    __NOP();
    GPIO_BOP(I2C_SDA_PORT) |= I2C_SDA_PIN;
    /* connect I2C_SCL_PIN to I2C_SCL */
    /* connect I2C_SDA_PIN to I2C_SDA */
    gpio_init(I2C_SCL_PORT, GPIO_MODE_AF_OD, GPIO_OSPEED_50MHZ, I2C_SCL_PIN);
    gpio_init(I2C_SDA_PORT, GPIO_MODE_AF_OD, GPIO_OSPEED_50MHZ, I2C_SDA_PIN);
    /* configure the I2CX interface */
        /* enable I2C clock */
    rcu_periph_clock_enable(RCU_I2C);
    /* configure I2C clock */
    i2c_clock_config(I2CX, I2C_SPEED, I2C_DTCY_2);
    /* configure I2C address */
    i2c_mode_addr_config(I2CX, I2C_I2CMODE_ENABLE, I2C_ADDFORMAT_7BITS, I2CX_SLAVE_ADDRESS7);
    /* enable I2CX */
    i2c_enable(I2CX);
    /* enable acknowledge */
    i2c_ack_config(I2CX, I2C_ACK_ENABLE);
}

.h文件

#ifndef _CAN
#define _CAN
#include "gd32f30x.h"


#define I2C_SPEED               400000
#define I2CX_SLAVE_ADDRESS7     0xD0
#define I2C_PAGE_SIZE           8

#define I2CX                    I2C1
#define RCU_GPIO_I2C            RCU_GPIOB
#define RCU_I2C                 RCU_I2C1
#define I2C_SCL_PORT            GPIOB
#define I2C_SDA_PORT            GPIOB
#define I2C_SCL_PIN             GPIO_PIN_10
#define I2C_SDA_PIN             GPIO_PIN_11

/* configure the GPIO ports */
//void gpio_config(void);
/* configure the I2C interfaces */
void i2c_config(void);
/* reset i2c bus */
void i2c_bus_reset(void);

#endif

驱动ICM42670的iic时序如下：
在这里插入图片描述
所以开始写ICM42670的驱动
配置的寄存器主要有

配置好量程，频率和低噪声模式就可在寄存器中查到实时的数据，读取数据前首先要读取INT_STATUS_DRDY寄存器
确认数据已经准备好，然后是 .c如下：

#include "ICM42670.h"
#include <stdio.h>
#include "systick.h"
//在iic总线上发送起始位
uint8_t iic_start(void){
   
   
    uint16_t timeout=0;
		while(i2c_flag_get(I2CX, I2C_FLAG_I2CBSY) && (timeout < I2C_TIME_OUT)) {
   
   
				timeout++;
		}
		if(timeout < I2C_TIME_OUT) {
   
   
				i2c_start_on_bus(I2CX);
				return 1;
		} else {
   
   
				return 0;
		}
}

//在iic总线上发送从机地址并清除ADDSEND
uint8_t iic_slave_address(uint8_t addr,uint32_t trandirection){
   
   
	 uint16_t timeout=0;
	 while((!i2c_flag_get(I2CX, I2C_FLAG_SBSEND)) && (timeout < I2C_TIME_OUT)) {
   
   
       timeout++;
   }
		if(timeout < I2C_TIME_OUT) {
   
   
			i2c_master_addressing(I2CX,addr, trandirection);
			timeout=0;
			while((!i2c_flag_get(I2CX, I2C_FLAG_ADDSEND)) && (timeout < I2C_TIME_OUT)) {
   
   
					timeout++;
			}
			if(timeout < I2C_TIME_OUT) {
   
   
					i2c_flag_clear(I2CX, I2C_FLAG_ADDSEND);//根据要求清除ADDSEND位
        return 1;
			} else {
   
   
				return 0;
			}
		} else {
   
   
			return 0;
		}
}
//查询TBE的方式写入数据，适用与前n-2个数据
uint8_t iic_datasendTBE(uint8_t iic_data){
   
   
	  uint16_t timeout=0;
		while((! i2c_flag_get(I2CX, I2C_FLAG_TBE)) && (timeout < I2C_TIME_OUT)) {
   
   
				timeout++;
		}
		if(timeout < I2C_TIME_OUT) {
   
   
				i2c_data_transmit(I2CX, iic_data);
			return 1;
		} else {
   
   
      return 0;
		}
}
//检测TBC发送
uint8_t iic_datasendTBC(uint8_t iic_data){
   
   
	  uint16_t timeout=0;
		/* wait until BTC bit is set */
		while((!i2c_flag_get(I2CX, I2C_FLAG_BTC)) && (timeout < I2C_TIME_OUT)) {
   
   
				timeout++;
		}
		if(timeout < I2C_TIME_OUT) {
   
   
			i2c_data_transmit(I2CX, iic_data);
			return 1;
		} else return 0;
}
//最后一位数据读取时调用
uint8_t iic_dataread_N_2(uint8_t* p_buffer){
   
   
	  uint16_t timeout=0;
		/* wait until BTC bit is set */
	//	while(!i2c_flag_get(I2CX, I2C_FLAG_BTC));
		/* disable acknowledge */
		i2c_ack_config(I2CX, I2C_ACK_DISABLE);

		/* wait until BTC bit is set */
	//	while(!i2c_flag_get(I2CX, I2C_FLAG_BTC));
		/* send a stop condition to I2C bus */
		i2c_stop_on_bus(I2CX);
		while(timeout<I2C_TIME_OUT) {
   
   
			timeout++;
						/* wait until RBNE bit is set */
			if(i2c_flag_get(I2CX, I2C_FLAG_RBNE)) {
   
   
					/* read a byte from the EEPROM */
					*p_buffer = i2c_data_receive(I2CX);
				  return 1;
					/* point to the next location where the byte read will be saved */
			}
		
		}

		return 0;
}
//前0-N-2个数据调用
uint8_t iic_dataread_N(uint8_t* p_buffer){
   
   
	  uint16_t timeout=0;
		while(timeout<I2C_TIME_OUT) {
   
   
			timeout++;
						/* wait until RBNE bit is set */
			if(i2c_flag_get(I2CX, I2C_FLAG_RBNE)) {
   
   
					/* read a byte from the EEPROM */
					*p_buffer = i2c_data_receive(I2CX);
				  return 1;
					/* point to the next location where the byte read will be saved */
			}