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陀螺仪欧拉角的计算

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This commit is contained in:
bmy
2023-12-22 22:39:59 +08:00
parent 2dffcf04f0
commit 20666b0c75
5 changed files with 212 additions and 36 deletions
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9
app/isr.c
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@@ -195,15 +195,14 @@ void EXTI9_5_IRQHandler(void)
EXTI_ClearITPendingBit(EXTI_Line8);
}
if (SET == EXTI_GetITStatus(EXTI_Line9)) {
EXTI_ClearITPendingBit(EXTI_Line9);
if (SET == gpio_get_level(E10)) {
potate_button = POTATE_BUTTOM_BACKWARD;
} else {
potate_button = POTATE_BUTTOM_FOREWARD;
}
EXTI_ClearITPendingBit(EXTI_Line9);
}
}
@@ -218,13 +217,12 @@ void EXTI15_10_IRQHandler(void)
EXTI_ClearITPendingBit(EXTI_Line10);
}
if (SET == EXTI_GetITStatus(EXTI_Line11)) {
EXTI_ClearITPendingBit(EXTI_Line11);
system_delay_us(200);
if (SET == !gpio_get_level(E11)) {
potate_button = POTATE_BUTTOM_PRESS;
}
EXTI_ClearITPendingBit(EXTI_Line11);
}
if (SET == EXTI_GetITStatus(EXTI_Line12)) {
EXTI_ClearITPendingBit(EXTI_Line12);
@@ -291,6 +289,7 @@ void TIM5_IRQHandler(void)
void TIM6_IRQHandler(void)
{
if (TIM_GetITStatus(TIM6, TIM_IT_Update) != RESET) {
ICM_getEulerianAngles();
TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
}
}