基于tc264的imu963ra磁力计校准代码

以下是基于TC264芯片的IMU963RA磁力计校准代码的示例：

#include <stdio.h>
#include "imu963ra.h"
#include "tc264.h"

// 定义磁力计校准系数
float mx_offset = 0.0f;
float my_offset = 0.0f;
float mz_offset = 0.0f;
float mx_scale = 1.0f;
float my_scale = 1.0f;
float mz_scale = 1.0f;

// 磁力计校准函数
void imu963ra_mag_calibration()
{
    uint16_t i;
    uint32_t mag_x = 0, mag_y = 0, mag_z = 0;
    float sum_x = 0.0f, sum_y = 0.0f, sum_z = 0.0f;
    float avg_x = 0.0f, avg_y = 0.0f, avg_z = 0.0f;
    float max_x = -32767.0f, max_y = -32767.0f, max_z = -32767.0f;
    float min_x = 32767.0f, min_y = 32767.0f, min_z = 32767.0f;

    // 读取100次磁力计原始数据
    for (i = 0; i < 100; i++)
    {
        imu963ra_read_mag(&mag_x, &mag_y, &mag_z);

        // 计算磁力计数据的最大值和最小值
        if (mag_x > max_x)
            max_x = mag_x;
        if (mag_y > max_y)
            max_y = mag_y;
        if (mag_z > max_z)
            max_z = mag_z;
        if (mag_x < min_x)
            min_x = mag_x;
        if (mag_y < min_y)
            min_y = mag_y;
        if (mag_z < min_z)
            min_z = mag_z;

        // 计算磁力计数据的和
        sum_x += mag_x;
        sum_y += mag_y;
        sum_z += mag_z;
    }

    // 计算磁力计数据的平均值
    avg_x = sum_x / 100.0f;
    avg_y = sum_y / 100.0f;
    avg_z = sum_z / 100.0f;

    // 计算磁力计校准系数
    mx_offset = (max_x + min_x) / 2.0f;
    my_offset = (max_y + min_y) / 2.0f;
    mz_offset = (max_z + min_z) / 2.0f;
    mx_scale = (max_x - min_x) / (2.0f * 32767.0f);
    my_scale = (max_y - min_y) / (2.0f * 32767.0f);
    mz_scale = (max_z - min_z) / (2.0f * 32767.0f);
}

int main(void)
{
    // 初始化IMU963RA
    imu963ra_init();

    // 进行磁力计校准
    imu963ra_mag_calibration();

    // 输出磁力计校准系数
    printf("mx_offset = %f, my_offset = %f, mz_offset = %f\n", mx_offset, my_offset, mz_offset);
    printf("mx_scale = %f, my_scale = %f, mz_scale = %f\n", mx_scale, my_scale, mz_scale);

    return 0;
}

在上述代码中，首先定义了磁力计校准系数的变量，然后编写了磁力计校准函数`imu963ra_mag_calibration()`。在校准函数中，首先读取100次磁力计原始数据，并计算出数据的最大值、最小值、和以及平均值。然后根据计算出的最大值和最小值，计算出磁力计校准系数。最后在主函数中调用磁力计校准函数，并输出校准系数。

需要注意的是，该示例代码仅供参考，具体实现可能会因硬件平台、磁力计型号等因素而有所不同。