瓒婁締瓒婂鐨勫彲绌挎埓瑷�(sh猫)鍌欏拰鐗╄伅(li谩n)缍�(w菐ng)瑷�(sh猫)瑷�(j矛)灏囨娓柟鍚戝拰璺熻工閬�(y霉n)鍕�(d貌ng)鐨勮兘鍔涜鐐洪噸瑕佽姹�銆傜洝绠″凡缍�(j墨ng)鏈夊悇绋悇妯ｇ殑鍙敤閬�(y霉n)鍕�(d貌ng)鍌虫劅鍣紝浣嗗伐绋嬪斧閭勬槸涓嶆柗鍙楀埌鎸戞埌(zh脿n)锛屾帰绱互鏇翠綆鐨勫姛鑰楁洿蹇€佹洿楂樻晥鍦伴泦鎴愰€欎簺瑷�(sh猫)鍌�锛岄€欏湪椤嶅澧炲姞鍌虫劅鍣ㄦ檪(sh铆)灏ゅ叾鍏锋湁鎸戞埌(zh脿n)鎬�銆�

鐐烘噳(y墨ng)灏�(du矛)閫欎簺閬�(y霉n)鍕�(d貌ng)璺熻工鎸戞埌(zh脿n)锛岃ō(sh猫)瑷�(j矛)浜哄摗闇€瑕侀泦鎴愬害鏇撮珮鐨勫姞閫熻▓(j矛)銆侀檧铻哄剙鍜岀鍔涘剙浜旈噾浠朵互鍙婃洿鍔犻珮鏁堜笖鏅鸿兘鐨勬暩(sh霉)鎿�(j霉)铻嶅悎绠楁硶銆�

鏈枃灏囦粙绱筎DKInvenSense鎻愪緵鐨勫悓鏅�(sh铆)鐐虹‖浠跺拰杌熶欢鎻愪緵骞姪鐨勮В姹烘柟妗�銆傜劧鍚�锛屾湰鏂囬倓灏囦粙绱硅ō(sh猫)瑷�(j矛)浜哄摗濡備綍钁楁墜灏囪┎瑙ｆ焙鏂规鎳�(y墨ng)鐢ㄤ簬绨″寲闇€瑕佸京(f霉)闆滅殑閬�(y霉n)鍕�(d貌ng)鎰熸噳(y墨ng)鍔熻兘鐨勫京(f霉)闆滀綆鍔熻€楀鍌虫劅鍣ㄦ噳(y墨ng)鐢ㄧ殑闁嬬櫦(f膩)銆�

楂樻晥閬�(y霉n)鍕�(d貌ng)璺熻工鐨勬寫鎴�(zh脿n)

鍒╃敤鍌崇当(t菕ng)鐨勯亱(y霉n)鍕�(d貌ng)璺熻工鏂规硶锛岄枊鐧�(f膩)浜哄摗鍙互鍚屾檪(sh铆)鐐虹‖浠跺拰杌熶欢铏曠悊閲嶈鐨勯泦鎴愬晱椤�銆傚湪纭欢鏂归潰锛岄枊鐧�(f膩)浜哄摗閫氬父鏈�(hu矛)鍔姏鍦ㄩ噰鐢ㄥ柈鐛�(d煤)鐨勫偝鎰熷櫒锛堝寘鎷姞閫熻▓(j矛)銆侀檧铻哄剙鍜岀鍔涘剙锛夋(g貌u)寤虹殑瑷�(sh猫)瑷�(j矛)涓渶澶ч檺搴︽笡灏戝叾寰�(f霉)闆滄€�銆佸昂瀵稿拰闆朵欢鐨勬暩(sh霉)閲忋€傝粺浠跺伐绋嬪斧鍓囬渶瑕佺壒鍒ユ敞鎰忓悓姝ュ悇绋悇妯ｇ殑鍌虫劅鍣ㄨ几鍑�锛屼互鍓�(chu脿ng)寤洪珮绱�(j铆)閬�(y霉n)鍕�(d貌ng)璺熻工鎳�(y墨ng)鐢ㄤ腑鎵€鐢ㄥ偝鎰熷櫒铻嶅悎绠楁硶鎵€闇€鐨勭当(t菕ng)涓€鏁�(sh霉)鎿�(j霉)娴併€傚皪(du矛)浜庣‖浠跺拰杌熶欢闁嬬櫦(f膩)浜哄摗鑰岃█锛岄渶瑕佸湪瑷�(sh猫)瑷�(j矛)涓泦鎴愰澶栧偝鎰熷櫒椤炲瀷鐨勬噳(y墨ng)鐢ㄩ潰鑷ㄧ殑鎸戞埌(zh脿n)鍧囬’钁楀鍔犮€�

浣嗘槸锛屼娇鐢═DKInvenSenseICM-20948锛岄枊鐧�(f膩)浜哄摗渚胯兘澶犱互鏈€灏戠殑宸ヤ綔閲忓揩閫熷(sh铆)鐝�(xi脿n)閬�(y霉n)鍕�(d貌ng)璺熻工瑷�(sh猫)瑷�(j矛)鎴栧叾浠栧鍌虫劅鍣ㄧ郴绲�(t菕ng)銆�

閬�(y霉n)鍕�(d貌ng)璺熻工瑙ｆ焙鏂规

TDKInvenSenseICM-20948鏄竴绋鑺墖妯″锛屽昂瀵稿彧鏈�3mmx3mmx1mm锛屽畠闆嗘垚浜嗘彁渚涘畬鏁撮亱(y霉n)鍕�(d貌ng)璺熻工瑙ｆ焙鏂规鎵€闇€鐨勬暣濂楀偝鎰熷櫒銆佷俊铏�(h脿o)閺�銆佹暩(sh霉)鎿�(j霉)铏曠悊鍜屾帴 鍙ｉ浕璺紙鍦�1锛�銆�

瑭叉ā濉婂湪鍏ㄩ潰宸ヤ綔妯″紡涓嬪儏闇€瑕�3姣畨(mA)宸﹀彸渚胯兘瀵�(sh铆)鐝�(xi脿n)鍏跺叏閮ㄥ姛鑳�銆傚皪(du矛)浜庡姛鐜囧彈闄愮殑鎳�(y墨ng)鐢�锛岄枊鐧�(f膩)浜哄摗鍙互闂�(gu膩n)闁夋ā濉婄殑鏌愪簺閮ㄥ垎锛屽緸鑰屽皣瀹屽叏浼戠湢妯″紡涓嬪悇闅庢鐨勯浕娴佹秷鑰楅檷浣庤嚦8寰畨(渭A)銆傜敘(ch菐n)鐢熺殑鍔熻€楀彇姹轰簬宸ヤ綔闆诲(VDD)锛屾牴鎿�(j霉)瑷�(sh猫)瑷�(j矛)瑕佹眰锛岃┎闆诲鍊煎彲浠ヤ粙浜�1.71浼忕壒鍜�3.6浼忕壒銆�

鍠崹(d煤)鐨勪俊铏�(h脿o)閺堥泦鎴愬湪妯″涓�锛岀偤闆嗘垚鐨�3杌稿姞閫熻▓(j矛)銆�3杌搁檧铻哄剙鍜�3杌哥鍔涘剙浠ュ強闆嗘垚鐨勬韩搴﹀偝鎰熷櫒鐨勬瘡鍊�(g猫)閫氶亾鎻愪緵鏀寔銆傛瘡鍊�(g猫)淇¤櫉(h脿o)閺堥兘鍖呮嫭绶╂矕鏀惧ぇ鍣ㄥ拰涓€鍊�(g猫)灏堢敤鐨�16浣嶆ā鏁�(sh霉)杞�(zhu菐n)鎻涘櫒(ADC)锛屼互鍙婄壒瀹氫簬鍌虫劅鍣ㄧ殑闆昏矾锛屽椹�(q奴)鍕�(d貌ng)妯″鐨勯湇鐖炬晥鎳�(y墨ng)纾佸姏鍎€鐨勯浕娴佹簮銆�

鐐轰簡鎻愰珮姣忕ó淇¤櫉(h脿o)閺堢殑杓稿嚭锛屾ā濉婂寘鎷仼鐢ㄤ簬姣忕ó閫�(j矛n)涓€姝ュ偝鎰熷櫒椤炲瀷鐨勪俊铏�(h脿o)瑾�(di脿o)绡€(ji茅)闅庢銆備緥濡�锛岀鍔涘剙杓稿嚭閫氶亷绠楄(sh霉)闆昏矾閫�(j矛n)琛屽熀鏈俊铏�(h脿o)铏曠悊锛岃€屽叾浠栧偝鎰熷櫒鐨勮几鍑哄悇鑷鍏ヨ嚜鍕�(d貌ng)鐨勫偝鎰熷櫒鐗瑰畾瑾�(di脿o)绡€(ji茅)闅庢锛屼互鍩�(zh铆)琛岄噰妯ｅ钩鍧囩瓑铏曠悊鍔熻兘銆傞枊鐧�(f膩)浜哄摗鍙互灏嘔CM-20948瑷�(sh猫)缃偤骞冲潎澶氶仈(d谩)128鍊�(g猫)闄€铻哄剙鏁�(sh霉)鎿�(j霉)閲囨ǎ锛屾垨鑰呭皣鍔犻€熻▓(j矛)瑷�(sh猫)缃偤骞冲潎澶氶仈(d谩)32鍊�(g猫)閲囨ǎ銆傛渶绲�锛屾瘡鍊�(g猫)閫氶亾鐨勪俊铏�(h脿o)瑾�(di脿o)绡€(ji茅)闅庢鐨勮几鍑洪鍏ヤ竴绲勫皥鐢ㄧ殑鍌虫劅鍣ㄥ瘎瀛樺櫒涓�銆�

ICM-20948鐨勬牳蹇冩槸涓€鍊�(g猫)灏堟湁鐨勬暩(sh霉)瀛楅亱(y霉n)鍕�(d貌ng)铏曠悊鍣�(DMP)锛岀敤浜庢彁渚涘悇绋笉鍚岀殑鍔熻兘锛屽寘鎷煼(zh铆)琛岄亱(y霉n)鍕�(d貌ng)铏曠悊绠楁硶銆佹牎婧�(zh菙n)鍜岃嚜娓│銆傚湪姝ｅ父宸ヤ綔鏈熼枔锛孌MP鏈�(hu矛)铏曠悊渚嗚嚜灏堢敤鍌虫劅鍣ㄥ瘎瀛樺櫒鐨勬暩(sh霉)鎿�(j霉)銆傜劧鍚庡啀灏囩祼(ji茅)鏋滃瓨鍎�(ch菙)鍦ㄦā濉婄殑闆嗘垚寮廎IFO涓紝渚涗富姗�(j墨)MCU閫氶亷鍏变韩鐨処2C鎴朣PI绺界窔瑷晱銆�

DMP鍜孎IFO鐨勫姛鑳界偤寰堝瀵�(sh铆)闅涙噳(y墨ng)鐢ㄦ彁渚涢噸瑕佸姛鑳�銆傚緢澶氭儏娉佷笅锛屾噳(y墨ng)鐢ㄤ互鐩稿皪(du矛)杓冩參鐨勯€熷害鏇存柊鍏堕亱(y霉n)鍕�(d貌ng)璺熻工绲�(ji茅)鏋�锛岀敋鑷冲厑瑷卞叾涓绘(j墨)铏曠悊鍣ㄥ湪鏇存柊涔嬮枔浼戠湢锛屼互闄嶄綆绺藉姛鑰�銆傜劧鑰�锛岄亱(y霉n)鍕�(d貌ng)璺熻工绠楁硶闇€瑕佺殑鏇存柊閫熷害鏄庨’鏇撮珮锛屼互纰轰繚鍏跺湪鎳�(y墨ng)鐢ㄨ珛(q菒ng)姹傛洿鏂版檪(sh铆)浠ユ渶浣庣殑寤舵檪(sh铆)鎻愪緵绮剧⒑鐨勬暩(sh霉)鎿�(j霉)銆侱MP鑳藉鍦ㄤ笉闇€瑕佷富姗�(j墨)鍙冭垏鐨勬儏娉佷笅缍寔楂樻洿鏂伴€熷害锛岄€欐湁鍔╀簬纰轰繚婧�(zh菙n)纰烘€э紝鑰屼笉鏈�(hu矛)灏�(du矛)涓绘(j墨)鎳�(y墨ng)鐢ㄦ湰韬殑鎬ц兘鎴栧姛鑰楀挤(qi谩ng)鍔犻澶栫殑瑕佹眰銆�

绨″柈鐨勯泦鎴�

ICM-20948绲�(ji茅)鍚堜簡灏忓皝瑁�銆佺郴绲�(t菕ng)闆嗘垚鍔熻兘鍙婁富姗�(j墨)鐛�(d煤)绔嬫搷浣滅瓑鐗归粸(di菐n)锛岀壒鍒ラ仼鍚堝湪绉诲嫊(d貌ng)瑷�(sh猫)鍌�銆佸彲绌挎埓瑷�(sh猫)鍌欏拰鐗╄伅(li谩n)缍�(w菐ng)瑷�(sh猫)瑷�(j矛)涓娇鐢ㄣ€傛ā濉婄殑楂樻按骞抽泦鎴愭剰鍛宠憲锛岄枊鐧�(f膩)浜哄摗鍍呬娇鐢ㄤ笁鍊�(g猫)闆诲鍣ㄤ究鍙互鍩�(zh铆)琛屽吀鍨嬬殑閬�(y霉n)鍕�(d貌ng)璺熻工瑷�(sh猫)瑷�(j矛)銆傛寜鐓DKInvenSense浣跨敤闄剁摲X7R闆朵欢鐨勫缓璀�锛岄枊鐧�(f膩)浜哄摗灏囧湪妯″鐨凴EGOUT寮曡叧涓婂鍔犱竴鍊�(g猫)0.1渭F闆诲鍣ㄩ€�(j矛n)琛岀┅(w臎n)澹撳櫒婵炬尝锛屽苟鍦ㄥ叾VDD鍜孷DDIO寮曡叧涓婂鍔犱竴鍊�(g猫)瑭查浕瀹瑰櫒鐢ㄤ簬闆绘簮鏃侀€氾紙鍦�2锛�銆�

鍦�2锛氳ō(sh猫)瑷�(j矛)浜哄摗鍙互灏嘥DKInvenSenseICM-20948杓曟澗娣诲姞鍒板熀浜嶮CU鐨勮ō(sh猫)瑷�(j矛)涓�锛屽緸鑰岄€氶亷SPI锛堟铏曟墍绀猴級鎴朓2C鎺ュ彛閫ｆ帴鍒癕CU锛屽悗鑰呬娇鐢ㄧ浉鍚岀殑閰嶇疆锛屼絾寮曡叧22(nCS)鑸嘨DDIO鐩搁棞(gu膩n)鑱�(li谩n)

闆栫劧ICM-20948鐐洪亱(y霉n)鍕�(d貌ng)璺熻工瑷�(sh猫)瑷�(j矛)鎻愪緵浜嗚繎涔庣洿鎺ユ浛浠ｅ瀷鐨勮В姹烘柟妗堬紝浣嗗緢澶氭噳(y墨ng)鐢ㄩ倓鏄皪(du矛)鍏朵粬鍌虫劅鍣ㄩ鍨嬫彁鍑轰簡瑕佹眰銆傜偤骞姪闁嬬櫦(f膩)浜哄摗绨″寲閫欎簺澶氬偝鎰熷櫒瑷�(sh猫)瑷�(j矛)锛孖CM-20948鐐哄叾浠栧閮ㄥ偝鎰熷櫒鎻愪緵鍠崹(d煤)鐨処2C鎺ュ彛鍜屽収(n猫i)缃敮鎸�銆傞枊鐧�(f膩)浜哄摗鍦ㄦ灏囧吋瀹笽2C鐨勬櫤鑳藉偝鎰熷櫒閫ｆ帴鍒版ā濉婄殑灏堢敤杓斿姪I2C绔彛锛堝湒3锛�銆�

鍦�3锛氬湪SPI锛堟垨I2C锛夎垏涓绘(j墨)MCU閫ｆ帴鐨勫悓鏅�(sh铆)锛岄枊鐧�(f膩)浜哄摗鍙互浣跨敤TDKInvenSenseICM-20948妯″鐨勮紨鍔㊣2C鎺ュ彛锛圓UX_CL鍜孉UX_DA锛夐€ｆ帴澶栭儴鍌虫劅鍣�锛屽苟閫氶亷ICM-20948鐨勮紨鍔╄ō(sh猫)鍌欏皥鐢ㄥ瘎瀛樺櫒绠＄悊瀹冨€�

鍦ㄦ甯告搷浣滀腑锛孖CM-20948灏囧厖鐣�(d膩ng)I2C绺界窔鎺у埗鍣�锛屼互鑸囧閮ㄥ偝鎰熷櫒閫氫俊銆傚湪姝ゆā寮忎笅锛岄枊鐧�(f膩)浜哄摗鍙法绋嬩竴绲勫皥鐢ㄧ殑妯″瀵勫瓨鍣�锛屼互瀹氱京澶栭儴瑷�(sh猫)鍌欑殑I2C鍦板潃銆佽几鍑烘暩(sh霉)鎿�(j霉)鍦板潃浠ュ強鍏朵粬鐨勫偝杓稿弮鏁�(sh霉)銆傜敤姝や俊鎭�锛屾ā濉婂彲浠ュ皣澶栭儴鍌虫劅鍣ㄦ暩(sh霉)鎿�(j霉)璁€鍏ュ叾FIFO鍜屽閮ㄨō(sh猫)鍌欐暩(sh霉)鎿�(j霉)瀵勫瓨鍣ㄤ腑锛屽緸鑰屽湪鍌虫劅鍣↖2C绺界窔涓婁娇鐢ㄥ柈瀛楃瘈(ji茅)鎴栧瀛楃瘈(ji茅)璁€鍙栵紝鑰屼笉鏈�(hu矛)娑夊強鍒颁富姗�(j墨)MCU銆�

ICM-20948鎻愪緵灏堥杸瑷�(sh猫)瑷�(j矛)鐢ㄤ簬鍗�(xi茅)瑾�(di脿o)ICM-20948鑸囧閮ㄥ偝鎰熷櫒涔嬮枔鏅�(sh铆)闁撶殑涓€闋�(xi脿ng)椤嶅鍔熻兘銆傞櫎浜嗕娇鐢ㄦā濉婄殑灏堢敤涓柗INT寮曡叧涔嬪锛岄枊鐧�(f膩)浜哄摗閭勫彲浠ヤ娇鐢ㄥ閮ㄥ偝鎰熷櫒鐨勪腑鏂锋垨鍚屾鑴堟矕椹�(q奴)鍕�(d貌ng)妯″鐨凢SYNC寮曡叧銆備緥濡�锛屽湪鍦栧儚绌�(w臎n)瀹氭噳(y墨ng)鐢ㄤ腑锛岄枊鐧�(f膩)浜哄摗鍙互浣跨敤鍦栧儚鍌虫劅鍣ㄧ殑骞€鍚屾杓稿嚭渚嗗皣鍦栧儚鏁�(sh霉)鎿�(j霉)鑸嘔CM-20948鍌虫劅鍣ㄨ畝鏁�(sh霉)鍚屾銆備娇鐢ㄦā濉婄殑FSYNC_CONFIG瀵勫瓨鍣�锛岄枊鐧�(f膩)浜哄摗鐢氳嚦鍙互灏囨ā濉婇厤缃偤娓噺澶栭儴鍌虫劅鍣‵SYNC浜嬩欢鑸嘔CM-20948鏁�(sh霉)鎿�(j霉)浜嬩欢涔嬮枔鐨勬檪(sh铆)闁擄紝寰炶€屽湪鍦栧儚鍜岄亱(y霉n)鍕�(d貌ng)鏁�(sh霉)鎿�(j霉)闁撴彁渚涙洿瀵嗛泦鐨勫悓姝�銆�

浣嗘槸锛屼綔鐐哄皥鐢ㄧ殑閬�(y霉n)鍕�(d貌ng)璺熻工瑷�(sh猫)鍌�锛孖CM-20948缂轰箯浣跨敤涓€鑸敱涓绘(j墨)MCU铏曠悊鐨勯偅绋ō(sh猫)鍌欑壒瀹氳ō(sh猫)缃搷浣滀締閰嶇疆澶栭儴鍌虫劅鍣ㄦ墍闇€鐨勫姛鑳姐€傜偤绨″寲绯荤当(t菕ng)鍒濆鍖栭亷绋�锛岃┎妯″鎻愪緵涓€绋洿閫氭ā寮�锛屼互浣跨敤闆嗘垚鐨勬帴鍙ｆ梺閫氬璺京(f霉)鐢ㄥ櫒灏囦富姗�(j墨)绯荤当(t菕ng)铏曠悊鍣ㄧ洿鎺ラ€ｆ帴鍒板閮ㄥ偝鎰熷櫒涓�銆�

鍦ㄧ洿閫氭ā寮忎笅锛岃┎瑷�(sh猫)鍌欎娇鐢ㄥ叾闆嗘垚鐨勬ā鎿枊闂�(gu膩n)灏囪紨鍔㊣2C寮曡叧AUX_CL锛堝紩鑵�7锛夊拰AUX_DA锛堝紩鑵�21锛夌洿鎺ヤ互闆绘埃鏂瑰紡閫ｆ帴鍒颁富姗�(j墨)I2C绺界窔锛堝紩鑵�23鍜�24锛�銆傝┎宸ヤ綔妯″紡鎻愪緵涓€绋啊鍠殑鏂规硶锛屼互鍏佽ū涓绘(j墨)铏曠悊鍣ㄨ檿鐞嗚垏姣忓€�(g猫)澶栭儴鍌虫劅鍣ㄧ浉闂�(gu膩n)鐨勪换浣曢厤缃拰瑷�(sh猫)缃姹�銆傚垵濮嬪寲鍚�锛岄枊鐧�(f膩)浜哄摗绂佺敤鏃侀€氬璺京(f霉)鐢ㄥ櫒锛屼互鍏佽ūICM-20948鎺ョ姝ｅ父鎿嶄綔鏅�(sh铆)鐨勫閮ㄥ偝鎰熷櫒瑷晱銆�

蹇€熼枊鐧�(f膩)

鐩＄ICM-20948鎻愬嚭浜嗙浉灏�(du矛)绨″柈鐨勬帴鍙ｈ姹�锛屼絾甯屾湜瑭�(p铆ng)浼伴亱(y霉n)鍕�(d貌ng)璺熻工瑙ｆ焙鏂规鐨勯枊鐧�(f膩)浜哄摗鐢氳嚦鍙互閬垮厤瑭叉按骞崇殑纭欢鍘熷瀷闁嬬櫦(f膩)銆俆DKInvenSense鐨凞K-20948瑭�(p铆ng)浼版澘鍜屽弮鑰冭ō(sh猫)瑷�(j矛)鎻愪緵鐝�(xi脿n)鎴愮殑闁嬬櫦(f膩)骞宠嚭(t谩i)锛屽叾绲�(ji茅)鍚堜簡涓绘(j墨)MCU銆佸祵鍏ュ紡瑾�(di脿o)瑭﹀櫒銆乁SB鎺ュ彛鍜岀敤浜庡鍔犲叾浠栧偝鎰熷櫒鐨勫鍊�(g猫)閫ｆ帴鍣�銆佺劇绶氶€ｆ帴鍜屽叾浠栧姛鑳斤紙鍦�4锛�銆�

鍦�4锛歍DKInvenSenseDK-20948鏉挎彁渚涗竴绋畬鏁寸殑閬�(y霉n)鍕�(d貌ng)鎰熸噳(y墨ng)瑷�(sh猫)瑷�(j矛)锛屽叾绲�(ji茅)鍚堜簡ICM-20948妯″鑸嘙icrochipTechnologyATSAMG55J19BMCU锛堝乏鍋�(c猫)涓枔锛夊拰鍩轰簬MicrochipAT32UC3A4256MCU锛堜綅浜庢澘鐨勫悗鍋�(c猫)锛夌殑宓屽叆寮忚(di脿o)瑭﹀櫒

DK-20948鏉垮熀浜嶮icrochipTechnologyATSAMG55J19BMCU锛屼娇鐢↖CM-20948鎻愪緵瀹屾暣鐨勯亱(y霉n)鍕�(d貌ng)鍌虫劅鍣ㄨō(sh猫)瑷�(j矛)銆傚悓鏅�(sh铆)锛岃┎鏉垮寘鎷竴鍊�(g猫)鎻愪緵宓屽叆寮忚(di脿o)瑭﹀姛鑳界殑MicrochipAT32UC3A4256MCU锛屽緸鑰屽湪鑸囦富姗�(j墨)ATSAMG55MCU绲�(ji茅)鍚堜娇鐢ㄦ檪(sh铆)娑堥櫎灏�(du矛)澶栭儴宸ュ叿鐨勯渶姹�銆傞枊鐧�(f膩)浜哄摗鍙互浣跨敤瑭叉澘瑭�(p铆ng)浼癐CM-20948锛屽湪姝ら亷绋嬩腑锛岀劇闇€閫�(j矛n)涓€姝ョ殑纭欢宸ヤ綔鎴栬€呭叾浠栧畾鍒舵垨鍙敤瀛愭澘渚嗘摯(ku貌)灞曞叾鍔熻兘銆傞枊鐧�(f膩)浜哄摗瀹屾垚鍏禝CM-20948瑭�(p铆ng)浼板悗锛屽彲浠ヤ娇鐢ㄥ浠剁殑绀烘剰鍦�銆佽┏绱�(x矛)鐨凚OM鍜屾澘瑷�(sh猫)瑷�(j矛)鏂囦欢鍓�(chu脿ng)寤哄畾鍒惰ō(sh猫)瑷�(j矛)銆�

灏�(du矛)浜庤粺浠跺伐绋嬪斧鑰岃█锛孌K-20948濂椾欢鍚屾ǎ鍖呮嫭鐢ㄤ簬蹇€熻⿻(p铆ng)浼板拰瀹氬埗闁嬬櫦(f膩)鐨勯伕闋�(xi脿ng)銆傚皪(du矛)浜庤⿻(p铆ng)浼�锛屽叕鍙稿熀浜嶮otionLinkGUI鐨勫伐鍏峰彲浣块枊鐧�(f膩)浜哄摗鎺㈢储涓嶅悓鐨勯厤缃ō(sh猫)缃強瑭�(p铆ng)浼板畠鍊戝皪(du矛)鎵€鐢�(ch菐n)鐢熼亱(y霉n)鍕�(d貌ng)鏁�(sh霉)鎿�(j霉)鐨勫奖闊�銆傜劧鑰岋紝灏�(du矛)浜庡ぇ澶氭暩(sh霉)闁嬬櫦(f膩)浜哄摗渚嗚锛屽浠剁殑杌熶欢闁嬬櫦(f膩)鍖呭皣寰堝揩鎴愮偤浠栧€戠殑涓昏闂�(gu膩n)娉ㄩ粸(di菐n)銆�

瀹氬埗杌熶欢

灏�(du矛)浜庡畾鍒惰粺浠堕枊鐧�(f膩)锛孴DKInvenSenseeMD锛堝祵鍏ュ紡閬�(y霉n)鍕�(d貌ng)椹�(q奴)鍕�(d貌ng)鍣級SmartMotion杌熶欢鍖呮彁渚涙噳(y墨ng)鐢ㄧ法绋嬫帴鍙�(API)瑾槑鏂囨獢銆侀﹨(q奴)鍕�(d貌ng)婧愪唬纰笺€佸偝鎰熷櫒铻嶅悎鏂囧韩浠ュ強闋�(y霉)寤虹殑DMP鍥轰欢鍦栧儚銆傚悓鏅�(sh铆)锛岃┎杌熶欢鍖呴倓鍖呮嫭妲�(g貌u)寤哄拰闁冪従(xi脿n)瀹氬埗鍥轰欢鍦栧儚鐨勫伐鍏蜂互鍙婅垏瑭�(p铆ng)浼版澘閫�(j矛n)琛屾帶鍒惰嚭(t谩i)浜や簰鐨勫懡浠よ瀵�(sh铆)鐢ㄧ▼搴�銆�

eMD杌熶欢骞宠嚭(t谩i)瑷�(sh猫)瑷�(j矛)鐢ㄤ簬鑸嘇tmel/MicrochipTechnologyAtmelStudio閰嶅悎浣跨敤锛屽寘鍚叐鍊�(g猫)AtmelStudio鍖咃細鍏�(n猫i)鏍稿拰鎳�(y墨ng)鐢�銆傚収(n猫i)鏍稿寘鍖呭惈绶ㄧ▼鍜屾搷浣淚CM-20948鎵€闇€鐨勫簳灞ら﹨(q奴)鍕�(d貌ng)鍣ㄥ拰鍥轰欢锛屼互鍙奃K-20948鏉跨殑MicrochipATSAMG55J19B涓绘(j墨)MCU鐨勯爯(y霉)寤洪亱(y霉n)鍕�(d貌ng)绠楁硶鍜宮ath鏂囦欢銆�

鎳�(y墨ng)鐢ㄥ寘鍖呭惈涓€鍊�(g猫)妯ｄ緥鎳�(y墨ng)鐢ㄧ▼搴忥紝鐢ㄤ簬婕旂ず鍏�(n猫i)鏍稿寘鐨勪娇鐢�锛屽寘鎷緸闋傚堡鎳�(y墨ng)鐢ㄥ悜涓嬪欢浼稿埌涓茶绺界窔浜ゆ槗鐨勪富瑕佽ō(sh猫)瑷�(j矛)妯″紡銆備緥濡傦紝涓昏鐨凜渚嬬▼灞曠ず闁嬬櫦(f膩)浜哄摗濡備綍鍒濆鍖朓CM-20948鍜岀嵅鍙栨暩(sh霉)鎿�(j霉)锛堝垪琛�1锛�銆�

intmain(void)

{/*Initializeicm20948serifstructure*/

structinv_icm20948_serificm20948_serif;

icm20948_serif.context=0;/*noneed*/

icm20948_serif.read_reg=idd_io_hal_read_reg;

icm20948_serif.write_reg=idd_io_hal_write_reg;

icm20948_serif.max_read=1024*16;/*maxnumbytesallowedperserialread*/

icm20948_serif.max_write=1024*16;/*maxnumbytesallowedperserialwrite*/

icm20948_serif.is_spi=interface_is_SPI();

*Setuptheicm20948device*/

icm20948_sensor_setup();

/*

*NowthatIcm20948devicewasinitialized,proceedwithDMPimageloading

*ThisstepismandatoryasDMPimagearenotstoreinnonvolatilememory

*/

load_dmp3();

/*

*InitializeDynamicprotocolstuff

*/

DynProTransportUart_init(&transport,iddwrapper_transport_event_cb,0);

DynProtocol_init(&protocol,iddwrapper_protocol_event_cb,0);

/*

*InitializesthedefaultsensorODRinordertoproperlyinitthealgorithms

*/

sensor_configure_odr(period_us);

InvScheduler_init(&scheduler);

...

while(1){

InvScheduler_dispatchTasks(&scheduler);

if(irq_from_device==1){

inv_icm20948_poll_sensor(&icm_device,(void*)0,build_sensor_event_data);

__disable_irq();

irq_from_device=0;

__enable_irq();

}

}

return0;

}

鍒楄〃1锛氶枊鐧�(f膩)浜哄摗鍙互妾㈡煡DK-20948eMDSmartMotion杌熶欢鍖呬腑鎻愪緵鐨勭ず渚嬫簮浠ｇ⒓锛屼互浜嗚В涓昏瑷�(sh猫)瑷�(j矛)妯″紡锛屽绀轰緥鎳�(y墨ng)鐢ㄧ殑main.c渚嬬▼涓浠ｇ⒓鐗囨鎵€鍒楃殑ICM-20948鍒濆鍖栧拰鍌虫劅鍣ㄨ吉瑭㈡ā寮�銆傦紙浠ｇ⒓渚嗘簮锛歍DKInvenSense锛�

绶ㄧ▼ICM-20948绛夐珮搴﹂泦鎴愮殑瑷�(sh猫)鍌欐檪(sh铆)锛岄枊鐧�(f膩)浜哄摗寰堝鏄撶櫦(f膩)鐝�(xi脿n)鑷繁涓嶅儏瑕佹噳(y墨ng)浠樿ō(sh猫)鍌欑殑寰堝閰嶇疆閬搁爡(xi脿ng)锛岄倓瑕佹噳(y墨ng)浠橀珮鏁堟搷浣滆ō(sh猫)鍌欐墍闇€鐨勫ぇ閲忚粺浠剁祫浠躲€俥MD鍏�(n猫i)鏍稿寘閫氶亷涓€绯诲垪鐨勬娊璞★紙鍖呮嫭杌熶欢绲�(ji茅)妲�(g貌u)鍜屾湇鍕�(w霉)灞わ級娑堥櫎浜嗚┎寰�(f霉)闆滄€�銆備緥濡�锛岄棞(gu膩n)閸佃粺浠剁祼(ji茅)妲�(g貌u)inv_icm20948鏀堕泦浜嗘搷浣淚CM-20948鎵€闇€鐨勬墍鏈夋暩(sh霉)鎿�(j霉)鍜屽厓鏁�(sh霉)鎿�(j霉)锛屽寘鎷叾涓茶鎺ュ彛瀹氱京锛堝垪琛�2锛�銆�

/**@briefICM20948serialinterface

*/

structinv_icm20948_serif{

void*context;

int(*read_reg)(void*context,uint8_treg,uint8_t*buf,uint32_tlen);

int(*write_reg)(void*context,uint8_treg,constuint8_t*buf,uint32_tlen);

uint32_tmax_read;

uint32_tmax_write;

inv_bool_tis_spi;

};

鍒楄〃2锛氱偤骞姪闄嶄綆杌熶欢寰�(f霉)闆滄€э紝DK-20948eMDSmartMotion杌熶欢鍏�(n猫i)鏍镐緥绋嬫彁渚涘緢澶欳瑾炶█绲�(ji茅)妲�(g貌u)锛岄€欏氨鏄叾涓竴鍊�(g猫)渚嬪瓙锛岃┎绀轰緥瀹氱京ICM-20948涓茶鎺ュ彛鐨勮ō(sh猫)缃強I2C鎴朣PI浜ゆ槗鎵€闇€鐨勯仼鐣�(d膩ng)?sh霉)璁撳辜x鍙栧拰瀵叆渚嬬▼鐨勬寚绀哄櫒銆傦紙浠ｇ⒓渚嗘簮锛歍DKInvenSense锛�

鍦ㄥ(sh铆)渚嬪寲eMD绲�(ji茅)妲�(g貌u)鍙婂垵濮嬪寲瑷�(sh猫)鍌欐湰韬箣鍚庯紝闁嬬櫦(f膩)浜哄摗鍙互瑾�(di脿o)鐢ㄥ柈鍊�(g猫)渚嬬▼inv_icm20948_poll_sensor()锛屼互浣跨敤inv_icm20948绲�(ji茅)妲�(g貌u)瀵�(sh铆)渚嬭畝鍙栧偝鎰熷櫒鍜岄€氶亷DMP铏曠悊鏁�(sh霉)鎿�(j霉)銆傞€欎唤瑷橀寗榻婂叏鐨勪緥绋嬫湁900澶氳锛岀偤闁嬬櫦(f膩)浜哄摗瑭崇窗(x矛)婕旂ず浜嗘搷浣滃偝鎰熷櫒銆佺鐞咶IFO鍜屽埄鐢―MP鐨勬牳蹇冨姛鑳界殑浣跨敤銆�

鏈夎垐瓒ｅ緸鏇村熀绀�(ch菙)鐨勫堡闈簡瑙CM-20948鎿嶄綔鐨勯枊鐧�(f膩)浜哄摗鍙互杞�(zhu菐n)鍚戝簳灞ゅ収(n猫i)鏍镐緥绋�锛屽瑷�(sh猫)鍌欒嚜娓│Icm20948SelfTest.c妯″涓娇鐢ㄧ殑渚嬬▼銆傚湪姝ゆā濉婁腑锛宨ntinv_do_test_accelgyro绛変緥绋嬮’绀轰簡鎺у埗瑷�(sh猫)鍌欑殑鍏稿瀷瀵勫瓨鍣ㄦ搷浣滐紙鍒楄〃3锛夈€�

staticintinv_do_test_accelgyro(structinv_icm20948*s,enumINV_SENSORSsensorType,int*meanValue,int*stMeanValue)

{

//SetSelf-TestBit

if(sensorType==INV_SENSOR_GYRO)

{

//EnablegyroscopeSelf-TestbysettingregisterUserBank2,RegisterAddress02(02h)Bit[5:3]tob111

result=inv_icm20948_write_single_mems_reg(s,REG_GYRO_CONFIG_2,BIT_GYRO_CTEN|SELFTEST_GYRO_AVGCFG);

}else

{

result=inv_icm20948_write_single_mems_reg(s,REG_ACCEL_CONFIG_2,BIT_ACCEL_CTEN|SELFTEST_ACCEL_DEC3_CFG);

}

...

}

鍒楄〃3锛氶枊鐧�(f膩)浜哄摗鍙互鍦―K-20948eMDSmartMotion杌熶欢鍖呬腑鐧�(f膩)鐝�(xi脿n)婕旂ずICM-20948鍦ㄥ鍊�(g猫)鎶借薄灞ら潰浣跨敤鐨勪緥绋�锛屽寘鎷琁cm20948SelfTest.c妯″姝や唬纰肩墖娈典腑椤ず鐨勫瘎瀛樺櫒绱�(j铆)瑷晱銆傦紙浠ｇ⒓渚嗘簮锛歍DKInvenSense锛�

鍦ㄥ垪琛�3涓�锛岋紙鐩稿皪(du矛)锛夐珮绱�(j铆)鐨刬nv_icm20948_write_single_mems_reg()鍑芥暩(sh霉)鏈�(hu矛)瑾�(di脿o)鐢ㄤ綆绱�(j铆)渚嬬▼inv_icm20948_write_reg()锛屽緸鑰屽偝閬炵郸甯歌鐨刬nv_icm20948绲�(ji茅)妲�(g貌u)瀵�(sh铆)渚�銆傝┎瑾�(di脿o)鐢ㄦ渻(hu矛)鍚戜笅鍌抽仈(d谩)鍒颁綆灞�锛屾渶绲傚埌閬�(d谩)瀵�(sh铆)闅涘煼(zh铆)琛屽瘎瀛樺櫒瀵叆鎿嶄綔鐨勪緥绋嬩腑銆傜偤鍩�(zh铆)琛屾鎿嶄綔锛岃┎鏈€绲備綆绱�(j铆)鍑芥暩(sh霉)浣跨敤杌熶欢鍒濆鍖栨湡闁撳姞杓夊埌inv_icm20948_serif涓茶鎺ュ彛绲�(ji茅)妲�(g貌u)瀵�(sh铆)渚嬩腑鐨勫瘎瀛樺櫒瀵叆渚嬬▼鎸囩ず鍣�锛屽鍓嶉潰鐨勫垪琛�2鎵€绀恒€傞€欑ó鍒嗗堡鏂规硶灏�(du矛)浜庡公鍔╂渶澶ч檺搴﹂檷浣庤粺浠跺京(f霉)闆滄€у拰鏈€澶ч檺搴︽彁楂樻€ц兘鏄繀涓嶅彲灏戠殑銆�

灏�(du矛)浜庨枊鐧�(f膩)浜哄摗锛宔MDSmartMotion鏋舵(g貌u)鎻愪緵涓€鍊�(g猫)鍦ㄤ竴绲勪竴鑷寸殑闂�(gu膩n)閸甸爯(y霉)瀹氱京绲�(ji茅)妲�(g貌u)涓婃(g貌u)寤虹殑闈堟椿妗嗘灦銆備娇鐢╡MD杌熶欢鍖�锛岄枊鐧�(f膩)浜哄摗鍙互鍦ㄩ珮姘村钩涓婂伐浣�锛屽緸鑰屼娇鐢ㄦ娊璞″揩閫熷煼(zh铆)琛屾噳(y墨ng)鐢�銆傚悓鏅�(sh铆)锛岄枊鐧�(f膩)浜哄摗鍙互杓曟澗璺冲叆浣庡堡浠ュ煼(zh铆)琛屽畾鍒跺姛鑳�锛岃€屼笉鏈�(hu矛)澶卞幓鑸囨洿楂樼礆(j铆)杌熶欢鐨勪竴鑷存€с€俥MDSmartMotion杌熶欢鍖呭拰DK-20948闁嬬櫦(f膩)鏉夸竴璧蜂娇鐢�锛屽彲浠ユ彁渚涘叏闈㈢殑骞宠嚭(t谩i)渚嗗揩閫熼枊鐧�(f膩)閬�(y霉n)鍕�(d貌ng)鎰熸噳(y墨ng)鎳�(y墨ng)鐢�銆�

绺界祼(ji茅)

TDKInvenSenseICM-20948妯″鐐洪亱(y霉n)鍕�(d貌ng)鎰熸噳(y墨ng)鎻愪緵浜嗗畬鍏ㄩ泦鎴愮殑瑙ｆ焙鏂规銆備娇鐢ㄧ浉闂�(gu膩n)鐨凞K-20948闁嬬櫦(f膩)濂椾欢鍜宔MDSmartMotion杌熶欢鍖�锛岄枊鐧�(f膩)浜哄摗鍙互蹇€熸(g貌u)寤鸿兘澶犳豢瓒虫渶浣庡昂瀵稿拰鍔熻€楄姹傜殑閬�(y霉n)鍕�(d貌ng)鎰熸噳(y墨ng)瑙ｆ焙鏂规銆�