一、安装：
对于 Genuino 101（在美国叫做 Arduino 101），目前最新的 Arduino IDE 还默认不会支持，需要手动安装驱动。
将 Genuino 101 插入电脑 USB ，等待基本驱动安装完毕后，打开 Arduino IDE。
然后打开“开发板管理器”，在“开发板管理器”中找到“Intel Curie Bords by Intel”，在右边点安装。
等4个步骤全部下载安装完毕后，将 Arduino IDE 关闭，拔出 Genuino 101。
重新打开 Arduino IDE ，插入 Genuino 101。在开发板选择中选中 Genuino 101。端口应该会自动识别，如果没有正确识别，再勾选正确的端口。
二、测试：
本段参考Arduino.cc官网指南：https://www.arduino.cc/en/Tutorial/Genuino101CurieIMUOrientationVisualiser
- 按Genuino 101入门中所述，设置Arduino软件（IDE）。
- 连接101和用户电脑。
- 启动Arduino软件（IDE），并从“工具 > 开发板” 菜单项中选择Arduino/Genuino 101。
- 由开发库管理器中安装Madgwick 库。可打开Arduino软件（IDE），选择”Sketch -> Include Library -> Manage Libraries”。然后搜索’Madgwick’ 并直接安装开发库。请参阅开发库安装指导 了解安装和导入开发库的更详细解释。
- 下载启动Processing软件 ，并使用如下所示处理代码创建一个文件。
- 修改串行端口，使用用户101开发板正在使用的端口号（参阅”处理代码”章节）。
- 上传CurieIMU 示例至用户101开发板，请确保开发板保持水平和静止以便进行精确校准。
- 几秒钟后，运行Processing代码，调整开发板方向，查看程序对开发板的可视化显示。
Genuino 101 的代码
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#include <CurieIMU.h> #include <MadgwickAHRS.h> Madgwick filter; unsigned long microsPerReading, microsPrevious; float accelScale, gyroScale; void setup() { Serial.begin(9600); // start the IMU and filter CurieIMU.begin(); CurieIMU.setGyroRate(25); CurieIMU.setAccelerometerRate(25); filter.begin(25); // Set the accelerometer range to 2G CurieIMU.setAccelerometerRange(2); // Set the gyroscope range to 250 degrees/second CurieIMU.setGyroRange(250); // initialize variables to pace updates to correct rate microsPerReading = 1000000 / 25; microsPrevious = micros(); } void loop() { int aix, aiy, aiz; int gix, giy, giz; float ax, ay, az; float gx, gy, gz; float roll, pitch, heading; unsigned long microsNow; // check if it's time to read data and update the filter microsNow = micros(); if (microsNow - microsPrevious >= microsPerReading) { // read raw data from CurieIMU CurieIMU.readMotionSensor(aix, aiy, aiz, gix, giy, giz); // convert from raw data to gravity and degrees/second units ax = convertRawAcceleration(aix); ay = convertRawAcceleration(aiy); az = convertRawAcceleration(aiz); gx = convertRawGyro(gix); gy = convertRawGyro(giy); gz = convertRawGyro(giz); // update the filter, which computes orientation filter.updateIMU(gx, gy, gz, ax, ay, az); // print the heading, pitch and roll roll = filter.getRoll(); pitch = filter.getPitch(); heading = filter.getYaw(); Serial.print("Orientation: "); Serial.print(heading); Serial.print(" "); Serial.print(pitch); Serial.print(" "); Serial.println(roll); // increment previous time, so we keep proper pace microsPrevious = microsPrevious + microsPerReading; } } float convertRawAcceleration(int aRaw) { // since we are using 2G range // -2g maps to a raw value of -32768 // +2g maps to a raw value of 32767 float a = (aRaw * 2.0) / 32768.0; return a; } float convertRawGyro(int gRaw) { // since we are using 250 degrees/seconds range // -250 maps to a raw value of -32768 // +250 maps to a raw value of 32767 float g = (gRaw * 250.0) / 32768.0; return g; } |
Processing 的代码
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import processing.serial.*; Serial myPort; float yaw = 0.0; float pitch = 0.0; float roll = 0.0; void setup() { size(600, 500, P3D); // if you have only ONE serial port active myPort = new Serial(this, Serial.list()[0], 9600); // if you have only ONE serial port active //必须注意，如果你运行无效，但是知道自己用的哪个COM口，就修改一下这里的代码。 // if you know the serial port name //myPort = new Serial(this, "COM5", 9600); // Windows，注意官网上有错误，COM5后应该没有冒号:才对 //myPort = new Serial(this, "/dev/ttyACM0", 9600); // Linux //myPort = new Serial(this, "/dev/cu.usbmodem1217321", 9600); // Mac textSize(16); // set text size textMode(SHAPE); // set text mode to shape } void draw() { serialEvent(); // read and parse incoming serial message background(255); // set background to white lights(); translate(width/2, height/2); // set position to centre pushMatrix(); // begin object float c1 = cos(radians(roll)); float s1 = sin(radians(roll)); float c2 = cos(radians(pitch)); float s2 = sin(radians(pitch)); float c3 = cos(radians(yaw)); float s3 = sin(radians(yaw)); applyMatrix( c2*c3, s1*s3+c1*c3*s2, c3*s1*s2-c1*s3, 0, -s2, c1*c2, c2*s1, 0, c2*s3, c1*s2*s3-c3*s1, c1*c3+s1*s2*s3, 0, 0, 0, 0, 1); drawArduino(); popMatrix(); // end of object // Print values to console print(roll); print("\t"); print(pitch); print("\t"); print(yaw); println(); } void serialEvent() { int newLine = 13; // new line character in ASCII String message; do { message = myPort.readStringUntil(newLine); // read from port until new line if (message != null) { String[] list = split(trim(message), " "); if (list.length >= 4 && list[0].equals("Orientation:")) { yaw = float(list[1]); // convert to float yaw pitch = float(list[2]); // convert to float pitch roll = float(list[3]); // convert to float roll } } } while (message != null); } void drawArduino() { /* function contains shape(s) that are rotated with the IMU */ stroke(0, 90, 90); // set outline colour to darker teal fill(0, 130, 130); // set fill colour to lighter teal box(300, 10, 200); // draw Arduino board base shape stroke(0); // set outline colour to black fill(80); // set fill colour to dark grey translate(60, -10, 90); // set position to edge of Arduino box box(170, 20, 10); // draw pin header as box translate(-20, 0, -180); // set position to other edge of Arduino box box(210, 20, 10); // draw other pin header as box } |
运行视频：
https://www.taholab.com/wp-content/uploads/genuino101test.wmv
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分享的不错，谢谢
谢谢鼓励