三轴陀螺仪惯导电路原理图

\CS BUSY FRSTDATA DB7/Dout A DB8/Dout B REF SELECT TDX RDX
GND
11 13 14 15 16 17 18 19 20 12
IO2 IO76 IO73 IO69 IO67 IO65 IO62 IO59 IO56 IO53
VDD3V3
C46 0.1uF
+5V
VDD3V3 VDD3V3
GND
C45 0.1uF C47 0.1uF
31 33 34 35 36 37 38 39 40 32
IO4 IO5 IO6 VCCIO2_3 GNDIO6 VCCIO2_2 GNDIO5 IO52 IO51 IO49
IO43 IO44 45/CGLK2 VCCIO2_1 GNDIO4 GNDINT1 VCCINT1 IO11 IO10 IO12
52 60 59 58 57 56 55 54 53 51
C41 0.1uF
VDD3V3 C40 0.1uF
IO9/CGLK1 IO8/CGLK0 IO7 VCCIO1_1 GNDIO1 GNDINT3 VCCINT3 IO48 IO47 IO46/CGLK3
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
GND
VDD3V3
GND
41 43 44 45 46 47 48 49 50 42
VDD3v3
GND
GND
DB8/Dout B
GND
J
DB7/Dout A
C49 0.1uF
C50 0.1uF
C51 0.1uF
C52 0.1uF
GND
CLK 24M VDD3V3
VDD3V3 C38 C39 0.1uF 0.1uF
C11 0.1uF
GND
C15 0.1uF
TEMP2
+5V
C21 22nF
C22 22nF C20 0.1uF
A5 CP1 B5 CP1
A4 CP2 B4 CP2
C6 CP3 C7 CP3
A6 CP4 B7 CP4
D6 CP5 D7 CP5
U3.2 ADXRS623
VDD_1 E6 VDD_2 E7
R20 18.5k R21 1k
6
1 2 3 4 5 6
93 IO27 101 100 IO26 99 IO25 98 IO24 97 96 95 94 92
IO35 IO31/DEV CLRn
IO29 IO24 IO26 IO25 IO23 IO20 IO19 IO17
G
C35
C36
C37
C32
C33
C34
0.1uF
0.1uF
0.1uF
A2 RATEOUT B1 RATEOUT
C1 SUMJ C2 SUMJ
AGND_1 F1 AGND_2 G2
VRATIO_1 E1 VRATIO_2 E2
NC D1 NC D2
C24 0.1uF
R2610k
GND
SDA SDO INT2 INT1 -CON5
GND VCC
IO18 IO22 IO24 IO27 IO30/DEV OE IO33 IO36 IO38 IO25 IO20 IO23 IO17 IO19
0.1uF
0.1uF
0.1uF
GND
GND
GND GND
GND
U4 AD7606BSTZ
64 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49
V8GND V8
V7GND V7
V6GND V6
V5GND V5
V4GND V4
V3GND V3
V2GND V2
V1GND V1
20 19 18 17 16 15 14 13 12 11 10
9 8 7 6 5 4 3 2 1
D7 D6 D5 D4 D3 D2 D1 D0 EN RW RS RESET VL CS2 CS1 GND VCC VEE VSS VBAT
OLED2 LCD12864
128 x 64
C
C79 1u
R32 10k
A4 CP2 B4 CP2
PGND_1 G6 PGND_2 F7
C6 CP3 C7 CP3
ST1 F5 ST1 G5
A6 CP4 B7 CP4
ST2 F4 ST2 G4
D6 CP5 D7 CP5
TEMP F3 TEMP G3
C3 0.1uF
GND
C7 0.1uF
TEMP1
+5V
C13 22nF
C14 22nF C12 0.1uF
1
21
2
1
2
R29 1k
KEY9
KEY10
KEY11
KEY12
1
2
1
21
2
1
2
R34
EN
1k
J
KEY13
KEY14
KEY15
KEY16
SCL
1
2
1
21
2
1
2
R35 1k
K
L
M 电源部分
N
5.7V转5V电压
+5V 5.7V
6 IN
U7 TPS71750DSER
OUT 1
L2 100Ω
U8 NFM18PC104R1C3D
PGND_1 G6 PGND_2 F7
ST1 F5 ST1 G5
ST2 F4 ST2 G4
TEMP F3 TEMP G3
C19 0.1uF
GND
C23 0.1uF
TEMP3
VCC33
R27 10k
GND
R2510k
VCC33
R24 10k R2130k
U21
ADXL345BCCZ-RL7
14 13 12
A5 CP1 B5 CP1
A4 CP2 B4 CP2
C6 CP3 C7 CP3
A6 CP4 B7 CP4
D6 CP5 D7 CP5
U2.2 ADXRS623
VDD_1 E6 VDD_2 E7
PGND_1 G6 PGND_2 F7
ST1 F5 ST1 G5
ST2 F4 ST2 G4
TEMP F3 TEMP G3
GND
GND
GND
GND
GND
GND
GND VCC
VCC
D
D
R33
100
E
陀螺信号AD转换
数据处理器
F
TEMP1 TEMP2 TEMP3
GRY_Z GRY_Y GRY_X
GND
GND
GND
GND
GND
GND
C29 0.22uF
R3 30k
C30 0.22uF
R2 30k
C31 0.22uF
R1 30k
H
+5V
+5V
I
1
2
OS0
3
OS1
4
OS2
5
PAR/SER/BYTE/SEL 6
STBY
7
RANGE
8
CONBST/A 9
CONVST/B 10
RESET
11
RD/SCLK 12
CS
13
BUSY
14
FRSTDATA 15
16
AVCC AGND OS0 OS1 OS2 PAR/SER/BYTE/SEL STBY RANGE CONVST/A CONVST/B RESET RD/SCLK CS BUSY FRSTDATA DB0
VCC
ISP
1 3 5 7 9
MOSI GND RST SCK MISO
VTG GND GND GND GND
2 4 6 8 10
GND
H
4×4行列式键盘 I
IO29
IO24
IO26
IO35
VCC
KEY1
KEY2
KEY3
KEY4
RW
1
2
1
21
2
1
2
R28 1k
KEY5
KEY6
KEY7
KEY8
RS
1
2
R15
R9 R14
R8 R13
R7 R12
R6 R11
R5 R10
R4
100R 100R100R 100R100R 100R 100R 100R100R 100R100R 100R
EN RS RW CS2 CS1
VDD3V3
R16 100R
C48 10uF
GND
U6 CON6
TCK 1 TDO 2 TMS 3 TDI 4 VDD3V3 5
21 23 24 25 26 27 28 29 30 22
IO3 IO1 IO74 IO70 GNGINT4 VCCINT4 IO61 IO64 IO54 IO50
IO38 IO36 IO33 IO30/DEV OE 1027 IO24 IO22 IO18 TDO TMS
83 91 90 89 88 87 86 85 84 82
C54 R18 4 EN
1uF
1k
NR 3 NC 5
GND
C55 1uF C56 0.01uF
2
GND
O
GND
GND GND
GND
5.7V转3.3V电压 VCC3V3
P
5.7V
C57 R19
U11
TPS71733DCKR
1 2 3
IN GND EN
OUT 5 NR/FB 4
L3 100Ω C58
U10 NFM18PC104R1C3D
IO39 IO37 IO34 IO32 VCCINT2 GNDINT2 IO21 TCK
TDI IO14
72 81 80 79 78 77 76 75 74 71
D0 D1 D2 D3 D4 D5 D6 D7 TDO TMS MOSI MSISO
TCK TDI
IO42 IO41 IO40 GNDIO3 VCCIO1_3 GNDIO2 VCCIO1_2 IO16 IO15 IO13
7 10
1 6
SCL/SCLK
INT1
SDA/SDI/SDIO
INT2
SDO/ALT ADDRESS
CS#
RESERVED
RESERVED
NC
GND
VDD IO
GND
VS
GND
8 9 3 11 2 4 5
INT1 INT2
U22 -CON5
OND VS CS
VCC50 VCC33
U23 SCL
GND GND GND
AVCC AGND REFGND REFCAPB REFCAPA REFGND REFIN/REFOUT AGND AGND REGCAP AVCC AVCC REGCAP AGND REF/SELECT DB15/BYTE/SEL
48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33
GND
GND
K

E
复位电路
时钟电路
KEY
1
2
R30 8.2K
C78 10uF
RESET
VCC
X1 85MHz 1 N.C. DVCC 4
2 DGND CRYC 3
L1
1uH
R17
1k CLK 24M
C53
1u
D2 1N4448
R31 8.2K
GND
GND
F
GND
ISP下载
G
IO39 RESET SCK IO37
C2 0.1uF
GRY_X
C1 22nF
A3 AVcc_1 B3 AVcc_2
A2 RATEOUT B1 RATEOUT
C1 SUMJ C2 SUMJ
AGND_1 F1 AGND_2 G2
VRATIO_1 E1 VRATIO_2 E2
NC D1 NC D2
C8 0.1uF
C10 0.1uF
GRY_Y
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
A
A
三轴陀螺仪
B
三轴加速度计
LCD12864
B
GND GND
GND GND
GND GND
SDA SCL
C
+5V
C5 22nF
C6 22nF C4 0.1uF
U1.2
ADXRS623
A5 CP1
VDD_1 E6
B5 CP1
VDD_2 E7
1uF
1k
1uF
C59
0.01uF
GND
GND GND
GND
GND
1
2
3
4
3.3V转2.5V电压
VDD3V3
1 IN
U12 REF3125AIDBZRG4
OUT 2
GND 3
C61 0.47uF
GND
L6 100Ω
+5.7
C60 22uF
L4 100Ω
TXD RXD
U9 -CON4
GND
VDD25
U13 NFM18PC104R1C3D
62 70 69 68 67 66 65 64 63 61
EPM570
VDD3V3 C44 0.1uF
GND GND
C42 0.1uF VDD3V3 C43 0.1uF VDD3V3
DB1 DB2 DB3 DB4 DB5 DB6 VDRIVE DB7/DOUTA DB8/DOUTB AGND DB9 DB10 DB11 DB12 DB13 DB14/HBEN
C9 22nF
A3 AVcc_1 B3 AVcc_2
A2 RATEOUT B1 RATEOUT
C1 SUMJ C2 SUMJ
AGND_1 F1 AGND_2 G2
VRATIO_1 E1 VRATIO_2 E2
NC D1 NC D2
C16 0.1uF
C18 0.1uF
GRY_Z
C17 22nF
A3 AVcc_1 B3 AVcc_2
GND GND
+5V
C25 10uF
C26 10uF
C27 1u
C28 1u
REF/SELECT
GND
GND GND
OS0 OS1 OS2 PAR/BYTE SEL \STBY RANGE CONVST A CONVST B RESET \RD/SCLK
1 3 4 5 6 7 8 9 10 2
IO75 IO72 IO71 IO68 IO66 IO64 IO63 IO60 IO58 IO57
GND
5
6
7
8
9
L
M
220V转24VD
220V CON2X01
1
2
T1
1
N
D1 2W10
4-