void MPU6050_GyroCalibration()
{
int cycles = 7000;
int i;
int32_t x, y, z;
GPIOPinWrite(GPIO_PORTE_BASE, GPIO_PIN_5, 0 );
Gyro_Offset.X = 0;
Gyro_Offset.Y = 0;
Gyro_Offset.Z = 0;
x = 0;
y = 0;
z = 0;
Update_1000Hz = false;
for(i = 0 ; i < cycles ; i++)
{
while (!Update_1000Hz);
Update_1000Hz = false;
MPU9250_GetGyro();
x += Gyro.X;
y += Gyro.Y;
z += Gyro.Z;
}
Gyro_Offset.X = -x / cycles;
Gyro_Offset.Y = -y / cycles;
Gyro_Offset.Z = -z / cycles;
EEPROM_Write();
BEEP_On();
Update_5Hz = false;
while (!Update_5Hz);
BEEP_Off();
return ;
}
//蜂鸣器控制，每10ms执行一次
void BuzzerCtrl(void* arg)
{
(void)(arg);
static TONE_Def Tone;
switch (BuzzerStatus)
{
case 0:
Tone = *pTone;
if (Tone.Freq != FREQ_NO) //非结束符
{
//先判断供电持续时间
if (Tone.PWRTime != 0)
{
Tone.PWRTime --;
BeepPwrOn();
}
else
{
BuzzerStatus = 2;
break;
}
//再判断振荡持续时间
if (Tone.OSCTime != 0)
{
Tone.OSCTime --;
BEEP_SetFreq(Tone.Freq);
BEEP_On();
}
else
{
BeepPwrOff();
BuzzerStatus = 2;
break;
}
//判断完成，开始递减计时
BuzzerStatus = 1;
}
else // Tone.Freq == FREQ_NO //是结束符
{
BuzzerStatus = 2;
}
break;
case 1:
if (Tone.PWRTime != 0)
{
Tone.PWRTime --;
}
else
{
BeepPwrOff();
}
if (Tone.OSCTime != 0)
{
Tone.OSCTime --;
}
else
{
BEEP_Off();
pTone ++; //取下一个音调
BuzzerStatus = 0;
}
break;
default:
break;
}
return;
}