/**
* @brief
* @param
* @retval
**/
unsigned char mpu6050_read_zero_offsent(void)
{
static unsigned char check_num=0;
static unsigned int Acce_offsent_X , Acce_offsent_Y , Acce_offsent_Z;
static unsigned int Gyro_offsent_X , Gyro_offsent_Y , Gyro_offsent_Z;
if(check_num==0)
{
memset((int8_t *)&mpu6050_zero_offsent,0,14);
}
if(check_num<200)
{
mpu6050_read_data(); //读一次mpu6050内部数据
Acce_offsent_X += mpu6050_ramdata.Acce[0];
Acce_offsent_Y += mpu6050_ramdata.Acce[1];
Acce_offsent_Z += mpu6050_ramdata.Acce[2];
Gyro_offsent_X += mpu6050_ramdata.Gyro[0];
Gyro_offsent_Y += mpu6050_ramdata.Gyro[1];
Gyro_offsent_Z += mpu6050_ramdata.Gyro[2];
check_num++;
printf("%d %d %d %d %d %d\n\r",mpu6050_ramdata.Acce[0],mpu6050_ramdata.Acce[1],mpu6050_ramdata.Acce[2],
mpu6050_ramdata.Gyro[0] ,mpu6050_ramdata.Gyro[1],mpu6050_ramdata.Gyro[2]);
return FALSE;
}
check_num=0 ;
mpu6050_zero_offsent.Acce[0] =Acce_offsent_X /check_num;
mpu6050_zero_offsent.Acce[1] =Acce_offsent_Y /check_num;
mpu6050_zero_offsent.Acce[2] =Acce_offsent_Z /check_num;
mpu6050_zero_offsent.Gyro[0] =Gyro_offsent_X /check_num;
mpu6050_zero_offsent.Gyro[1] =Gyro_offsent_Y /check_num;
mpu6050_zero_offsent.Gyro[2] =Gyro_offsent_Z /check_num;
return TRUE;
}
static int mpu6050_read_accel(struct mpu6050_data *mpu6050)
{
return mpu6050_read_data(mpu6050, 1);
}
static int mpu6050_read_temprature(struct mpu6050_data *mpu6050)
{
return mpu6050_read_data(mpu6050, 2);
}
static int mpu6050_read_gyro(struct mpu6050_data *mpu6050)
{
return mpu6050_read_data(mpu6050, 0);
}
