参考博文:计算的公式推导
根据博文的公式,得出算法,未经实际验证,记录一下,待验证之后,如有不妥会更新。仅供参考。
#include <math.h>typedef struct{float X_arctan;float Y_arctan;float Z_arctan;float X_angle;float Y_angle;float Z_angle;} G_sensor_t;#define PI 3.1415926/********************************************** @brief 获取重力加速度分量数据* @param min_dpi:数据分辨率最小值(1g)* @param max_dpi:数据分辨率最大值(1g)* @param now_val:对应轴传感器值,实际读取寄存器的值* @retval 返回重力加速度的分量值* @note 数据分辨率的计算方式:以2g分辨率为例,陀螺仪adc是12位分辨率。* 正负2g的分辨率,一起是4g的分辨率,也就是把4096分成4分,即,1g的数据AD范围:正:0~1024* 负:-1024~0。因此,数据最大值是1024,最小值是-1024********************************************/float get_GravitationalAcceleration(int16_t min_dpi, int16_t max_dpi, int16_t now_val){float temp;if (now_val > max_dpi){now_val = max_dpi;}if (now_val < min_dpi){now_val = min_dpi;}temp = (float)((max_dpi - min_dpi) >> 1); //计算数据分辨率,((max_dpi - min_dpi) >> 1) => (max_dpi - min_dpi)/2.0temp = 9.8 / temp; //计算1个AD值代表的g值,g = 9.8temp = now_val * temp; //计算当前AD值代表的g值return temp;}/********************************************** @brief 获取重力加速度芯片相对水平位置的夹角* @param *sensor:相关的参数变量,计算得出的反正弦值和角度数据* @param x_val:X轴传感器的值* @param y_val:Y轴传感器的值* @param z_val:Z轴传感器的值* @retval NULL* @note 实际使用,调用该函数即可********************************************/void get_angle_value(G_sensor_t *sensor, int16_t x_val, int16_t y_val, int16_t z_val){float Ax, Ay, Az, temp;Ax = get_GravitationalAcceleration(-1024, 1024, x_val);Ay = get_GravitationalAcceleration(-1024, 1024, y_val);Az = get_GravitationalAcceleration(-1024, 1024, z_val);temp = sqrt((Ay * Ay) + (Az * Az));sensor->X_arctan = atan(Ax / temp);temp = sqrt((Ax * Ax) + (Az * Az));sensor->Y_arctan = atan(Ay / temp);temp = sqrt((Ax * Ax) + (Ay * Ay));sensor->Z_arctan = atan(Az / temp);temp = 180.0 / PI;sensor->X_angle = sensor->X_arctan * temp;sensor->Y_angle = sensor->Y_arctan * temp;sensor->Z_angle = sensor->Z_arctan * temp;}