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imu660ra新增细化参数说明

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SEEKFREE_BUDING
2023-09-15 11:50:02 +08:00
parent 1bc8985845
commit e18d49ffa2
32 changed files with 432 additions and 320 deletions
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32
Seekfree_TC264_Opensource_Library/libraries/zf_device/zf_device_imu660ra.c
View File

@@ -32,6 +32,7 @@
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
* 2022-09-15 pudding first version
* 2023-04-28 pudding <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>˵<EFBFBD><CBB5>
* 2023-09-15 pudding ת<><D7AA>ʵ<EFBFBD><CAB5>ֵ<EFBFBD><D6B5>ϸ˵<CFB8><CBB5>
********************************************************************************************************************/
/*********************************************************************************************************************
* <20><><EFBFBD>߶<EFBFBD><DFB6>壺
@@ -250,11 +251,11 @@ uint8 imu660ra_init (void)
imu660ra_write_register(IMU660RA_ACC_CONF, 0xA7); // <20><><EFBFBD>ٶȲɼ<C8B2><C9BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ģʽ <20><><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD> 50Hz <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>
imu660ra_write_register(IMU660RA_GYR_CONF, 0xA9); // <20><><EFBFBD><EFBFBD><EFBFBD>Dzɼ<C7B2><C9BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ģʽ <20><><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD> 200Hz <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>
// IMU660RA_GYR_SAMPLE<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>Ϊ:0x00 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>2000dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>16.4 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x01 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>1000dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>32.8 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x02 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>500 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>65.6 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x03 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>250 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>131.2 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// IMU660RA_ACC_SAMPLE<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>Ϊ25<32><35><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU660RA<52>ļ<EFBFBD><C4BC>ٶ<EFBFBD><D9B6><EFBFBD>Ưϵ<C6AF><CFB5>Ϊ 0.004%/K <20><>ֵ<EFBFBD><D6B5>ƫ<EFBFBD><C6AB><EFBFBD><EFBFBD><C2B6><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>Ϊ <20><>0.25mg/K
// <20><><EFBFBD><EFBFBD>Ϊ:0x00 <20><><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>2g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>16384 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λ<EFBFBD><CEBB>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x01 <20><><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>4g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>8192 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λ<EFBFBD><CEBB>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x02 <20><><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>8g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>4096 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λ<EFBFBD><CEBB>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x03 <20><><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>16g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>2048 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λ<EFBFBD><CEBB>g(m/s^2)
switch(IMU660RA_ACC_SAMPLE_DEFAULT)
{
case IMU660RA_ACC_SAMPLE_SGN_2G:
@@ -288,37 +289,38 @@ uint8 imu660ra_init (void)
break;
}
// IMU660RA_ACC_SAMPLE<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>Ϊ:0x00 <20><><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>2g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>16384 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λ<EFBFBD><EFBFBD>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x01 <20><><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>4g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>8192 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λ<EFBFBD><EFBFBD>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x02 <20><><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>8g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>4096 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λ<EFBFBD><EFBFBD>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x03 <20><><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>16g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD>2048 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λ<EFBFBD><EFBFBD>g(m/s^2)
// IMU660RA_GYR_SAMPLE<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>Ϊ25<32><35><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU660RA<52><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ưϵ<C6AF><CFB5>Ϊ 0.02%/K <20><>ֵ<EFBFBD><D6B5>ƫ<EFBFBD><C6AB><EFBFBD><EFBFBD><C2B6><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>Ϊ <20><>0.015dps/K
// <20><><EFBFBD><EFBFBD>Ϊ:0x00 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>2000dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>16.384 <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><EFBFBD><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x01 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>1000dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>32.768 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x02 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>500 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>65.536 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x03 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>250 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>131.072 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x04 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>250 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>262.144 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
switch(IMU660RA_GYRO_SAMPLE_DEFAULT)
{
case IMU660RA_GYRO_SAMPLE_SGN_125DPS:
{
imu660ra_write_register(IMU660RA_GYR_RANGE, 0x04);
imu660ra_transition_factor[1] = 262.4;
imu660ra_transition_factor[1] = 262.144;
}break;
case IMU660RA_GYRO_SAMPLE_SGN_250DPS:
{
imu660ra_write_register(IMU660RA_GYR_RANGE, 0x03);
imu660ra_transition_factor[1] = 131.2;
imu660ra_transition_factor[1] = 131.072;
}break;
case IMU660RA_GYRO_SAMPLE_SGN_500DPS:
{
imu660ra_write_register(IMU660RA_GYR_RANGE, 0x02);
imu660ra_transition_factor[1] = 65.6;
imu660ra_transition_factor[1] = 65.536;
}break;
case IMU660RA_GYRO_SAMPLE_SGN_1000DPS:
{
imu660ra_write_register(IMU660RA_GYR_RANGE, 0x01);
imu660ra_transition_factor[1] = 32.8;
imu660ra_transition_factor[1] = 32.768;
}break;
case IMU660RA_GYRO_SAMPLE_SGN_2000DPS:
{
imu660ra_write_register(IMU660RA_GYR_RANGE, 0x00);
imu660ra_transition_factor[1] = 16.4;
imu660ra_transition_factor[1] = 16.384;
}break;
default:
{

15
Seekfree_TC264_Opensource_Library/libraries/zf_device/zf_device_imu660ra.h
View File

@@ -32,6 +32,7 @@
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
* 2022-09-15 pudding first version
* 2023-04-28 pudding <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>˵<EFBFBD><CBB5>
* 2023-09-15 pudding ת<><D7AA>ʵ<EFBFBD><CAB5>ֵ<EFBFBD><D6B5>ϸ˵<CFB8><CBB5>
********************************************************************************************************************/
/*********************************************************************************************************************
* <20><><EFBFBD>߶<EFBFBD><DFB6>壺
@@ -121,17 +122,21 @@ typedef enum
#define IMU660RA_ACC_RANGE (0x41)
#define IMU660RA_GYR_CONF (0x42)
#define IMU660RA_GYR_RANGE (0x43)
#define IMU660RA_ACC_SAMPLE (0x02) // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>Ϊ25<32><35><EFBFBD><EFBFBD>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU660RA<52>ļ<EFBFBD><C4BC>ٶ<EFBFBD><D9B6><EFBFBD>Ưϵ<C6AF><CFB5>Ϊ 0.004%/K <20><>ֵ<EFBFBD><D6B5>ƫ<EFBFBD><C6AB><EFBFBD><EFBFBD><C2B6><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>Ϊ <20><>0.25mg/K
// <20><><EFBFBD><EFBFBD>Ϊ:0x00 <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>2g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 16384 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ<EFBFBD><CEBB>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x01 <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>4g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 8192 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ<EFBFBD><CEBB>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x02 <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>8g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 4096 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ<EFBFBD><CEBB>g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ:0x03 <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>16g <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 2048 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ<EFBFBD><CEBB>g(m/s^2)
#define IMU660RA_GYR_SAMPLE (0x00) // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:0x00 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>2000dps <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> 16.4 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x01 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>1000dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 32.8 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x02 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>500 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD> 65.6 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x03 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>250 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 131.2 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x04 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>125 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> 262.4 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ25<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU660RA<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ưϵ<EFBFBD><EFBFBD>Ϊ 0.02%/K <EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>ƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>Ϊ <20><>0.015dps/K
// <20><><EFBFBD><EFBFBD>Ϊ:0x00 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>2000dps <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>16.384 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><EFBFBD><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x01 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>1000dps <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>32.768 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><EFBFBD><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x02 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>500 dps <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>65.536 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><EFBFBD><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x03 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>250 dps <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><EFBFBD><EFBFBD>131.072 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><EFBFBD><EFBFBD>λΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/s
// <20><><EFBFBD><EFBFBD>Ϊ:0x04 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ:<3A><>250 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>262.144 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>λΪ<CEBB><CEAA><EFBFBD><EFBFBD>/s
//================================================<3D><><EFBFBD><EFBFBD> IMU660RA <20>ڲ<EFBFBD><DAB2><EFBFBD>ַ================================================