#include?“mpu9250.h“
#include?“delay.h“
#include?“struct_all.h“


uint8_t	ACC_GYRO_Offset1?=?0;//不自動校正
uint8_t?MAG_Offset1=0MAG_Offset2=0;//不自動校正
float?Hxs=1.0fHys=1.0fHzs=1.0f;
void?Init_MPU9250（void）
{?I2C_ByteWrite（GYRO_ADDRESSPWR_MGMT_10x00）;?delay_ms（4）;
??I2C_ByteWrite（GYRO_ADDRESSSMPLRT_DIV0x00）;?delay_ms（4）;
??I2C_ByteWrite（GYRO_ADDRESSCONFIG0x03）;?????delay_ms（4）;
??I2C_ByteWrite（GYRO_ADDRESSGYRO_CONFIG0x18）;delay_ms（4）;
??I2C_ByteWrite（GYRO_ADDRESSACCEL_CONFIG0x18）;delay_ms（4）;
??I2C_ByteWrite（GYRO_ADDRESSACCEL_CONFIG_20x02）;delay_ms（4）;
??I2C_ByteWrite（GYRO_ADDRESS0x370x02）;?delay_ms（4）;
??I2C_ByteWrite（MAG_ADDRESS0x0A0x16）;??delay_ms（4）;
}
/******************************************************************************
函數原型：	void?Do_ACC_GYRO_Offset（void）
功????能：	MPU9250零偏校正
*******************************************************************************/?
void?Do_ACC_GYRO_Offset（void）
{
	ACC_GYRO_Offset1=1;
}
void?Do_MAG_Offset（void）
{
??MAG_Offset1=1;
}?
void?ACC_GYRO_Offset（void）
{???static?int32_t?ACC_X=0ACC_Y=0ACC_Z=0;
????static?int32_t?GYRO_X=0GYRO_Y=0GYRO_Z=0;
????static?uint8_t?count_acc_gyro=0;????
	if（ACC_GYRO_Offset1）
	{?if（count_acc_gyro==0）
		{?LED2=1;
			conf.offset_acc.x?=?0;conf.offset_gyro.x?=?0;
			conf.offset_acc.y?=?0;conf.offset_gyro.y?=?0;
			conf.offset_acc.z?=?0;conf.offset_gyro.z?=?0;
			ACC_X?=?0;GYRO_X?=?0;
			ACC_Y?=?0;GYRO_Y?=?0;
			ACC_Z?=?0;GYRO_Z?=?0;
			count_acc_gyro?=?1;
		}
		else
		{
			count_acc_gyro++;
			ACC_X?+=?acc.x;GYRO_X?+=?gyro.x;
			ACC_Y?+=?acc.y;GYRO_Y?+=?gyro.y;
			ACC_Z?+=?acc.z;GYRO_Z?+=?gyro.z;
		}
		if（count_acc_gyro==251）
		{	count_acc_gyro--;
			conf.offset_acc.x?=?ACC_X/count_acc_gyro;conf.offset_gyro.x?=?GYRO_X/count_acc_gyro;
			conf.offset_acc.y?=?ACC_Y/count_acc_gyro;conf.offset_gyro.y?=?GYRO_Y/count_acc_gyro;
			conf.offset_acc.z?=?ACC_Z/count_acc_gyro-2048;conf.offset_gyro.z?=?GYRO_Z/count_acc_gyro;
			conf.angleTrim[ROLL]=0;?conf.angleTrim[PITCH]=0;?????
			
			SPIROM_SAVE_PID_BOX（）;??
			count_acc_gyro?=?0;
??????ACC_GYRO_Offset1?=?0;
??????LED2=0;				
		}	??
	}
}
void?MAG_Offset（void）
{?static?int16_t?X_maxX_minY_maxY_minZ_maxZ_min;
??static?uint16_t?count_mag=0;
??if（MAG_Offset1）
????{?if（count_mag==0）
???????{??LED1=1;
??				conf.offset_mag.x?=?0;conf.offset_mag.y?=?0;
??????????Hxs=1;Hys=1;
??????????count_mag=1;
????????}
???????else?if（count_mag==1）
????????{?X_max=mag.x;X_min=mag.x;Y_max=mag.y;Y_min=mag.y;?
??????????count_mag=2;
?????????}
???????else
???????{??count_mag++;
??????????if（mag.x>X_max）?X_max=mag.x;
??????????if（mag.x??????????if（mag.y>Y_max）?Y_max=mag.y;
??????????if（mag.y???????}
??????if（count_mag==721）
???????{??Hxs=?1?;
??????????Hys=（float）（X_max-X_min）/（Y_max-Y_min）;
??????????conf.offset_mag.x?=Hxs*（X_max+X_min）/2;
??????????conf.offset_mag.y?=Hys*（Y_max+Y_min）/2;
??????????c

?屬性????????????大小?????日期????時間???名稱
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?????文件???????5034??2019-01-07?01:22??mpu9250.c

?????文件???????1477??2018-07-06?12:37??mpu9250.h

-----------?---------??----------?-----??----

?????????????????6511????????????????????2