void MPU6050_getStructData(pSixAxis cache) {
cache->gX = (float)MPU_GetData(GYRO_XOUT_H)/16.4f;
cache->gY = (float)MPU_GetData(GYRO_YOUT_H)/16.4f;
cache->gZ = (float)MPU_GetData(GYRO_ZOUT_H)/16.4f;
cache->aX = (float)MPU_GetData(ACCEL_XOUT_H)/1671.83f;
cache->aY = (float)MPU_GetData(ACCEL_YOUT_H)/1671.83f;
cache->aZ = (float)MPU_GetData(ACCEL_ZOUT_H)/1671.83f;
cache->aY += A_Y_OFFSET;
cache->gX += G_X_OFFSET;
}
void MPU6050_getStructData(pSixAxis cache) {
cache->gX = (float)MPU_GetData(GYRO_XOUT_H)/16.4f;
cache->gY = (float)MPU_GetData(GYRO_YOUT_H)/16.4f;
cache->gZ = (float)MPU_GetData(GYRO_ZOUT_H)/16.4f;
cache->aX = (float)MPU_GetData(ACCEL_XOUT_H)/1671.83f;
cache->aY = (float)MPU_GetData(ACCEL_YOUT_H)/1671.83f;
cache->aZ = (float)MPU_GetData(ACCEL_ZOUT_H)/1671.83f;
#ifdef IMU_SOFTWARE_FIXED
cache->gX += G_X_OFFSET;
cache->gY += G_Y_OFFSET;
cache->gZ += G_Z_OFFSET;
cache->aX += A_X_OFFSET;
cache->aY += A_Y_OFFSET;
cache->aZ += A_Z_OFFSET;
#endif
}
//pBuf为3个元素保存X,Y,Z轴角速度数据
void MPU_GetGyroADC(int16_xyz *gyro)
{
gyro->x = MPU_GetData(GYRO_XOUT_H)-MPU_OFFSET_GYROX;
gyro->y = MPU_GetData(GYRO_YOUT_H)-MPU_OFFSET_GYROY;
gyro->z = MPU_GetData(GYRO_ZOUT_H)-MPU_OFFSET_GYROZ;
}
//pBuf为3个元素保存X,Y,Z轴加速度数据
void MPU_GetAccelADC(int16_xyz *acc)
{
acc->x = MPU_GetData(ACCEL_XOUT_H) -MPU_OFFSET_ACCELX;
acc->y = MPU_GetData(ACCEL_YOUT_H) - MPU_OFFSET_ACCELY;
acc->z = MPU_GetData(ACCEL_ZOUT_H) - MPU_OFFSET_ACCELZ;
}
