imu963ra磁力计校准代码

imu963ra磁力计校准是一个比较复杂的过程，需要使用外部工具进行校准。以下是一个基于Arduino的imu963ra磁力计校准代码示例，供参考：

#include <Wire.h>
#include <EEPROM.h>

#define IMU_ADDRESS 0x1E

#define EEPROM_ADDRESS 0x50
#define EEPROM_SIZE 256

#define MAG_X_OFFSET_ADDRESS 0x10
#define MAG_Y_OFFSET_ADDRESS 0x20
#define MAG_Z_OFFSET_ADDRESS 0x30

int16_t mag_x_offset, mag_y_offset, mag_z_offset;

void setup() {
  Wire.begin();
  Serial.begin(9600);
}

void loop() {
  calibrateMag();
}

void calibrateMag() {
  Serial.println("Move the sensor around in all directions for 30 seconds...");

  uint32_t start_time = millis();

  int16_t mag_x_min = 32767, mag_x_max = -32768;
  int16_t mag_y_min = 32767, mag_y_max = -32768;
  int16_t mag_z_min = 32767, mag_z_max = -32768;

  while ((millis() - start_time) < 30000) {
    Wire.beginTransmission(IMU_ADDRESS);
    Wire.write(0x03); // MAG_XOUT_L
    Wire.endTransmission();
    Wire.requestFrom(IMU_ADDRESS, 6);
    if (Wire.available() == 6) {
      int16_t mag_x = Wire.read() | (Wire.read() << 8);
      int16_t mag_y = Wire.read() | (Wire.read() << 8);
      int16_t mag_z = Wire.read() | (Wire.read() << 8);

      if (mag_x < mag_x_min) mag_x_min = mag_x;
      if (mag_x > mag_x_max) mag_x_max = mag_x;
      if (mag_y < mag_y_min) mag_y_min = mag_y;
      if (mag_y > mag_y_max) mag_y_max = mag_y;
      if (mag_z < mag_z_min) mag_z_min = mag_z;
      if (mag_z > mag_z_max) mag_z_max = mag_z;
    }
    delay(10);
  }

  mag_x_offset = (mag_x_min + mag_x_max) / 2;
  mag_y_offset = (mag_y_min + mag_y_max) / 2;
  mag_z_offset = (mag_z_min + mag_z_max) / 2;

  Serial.println("Calibration complete!");
  Serial.print("X offset: "); Serial.println(mag_x_offset);
  Serial.print("Y offset: "); Serial.println(mag_y_offset);
  Serial.print("Z offset: "); Serial.println(mag_z_offset);

  EEPROM.put(MAG_X_OFFSET_ADDRESS, mag_x_offset);
  EEPROM.put(MAG_Y_OFFSET_ADDRESS, mag_y_offset);
  EEPROM.put(MAG_Z_OFFSET_ADDRESS, mag_z_offset);

  delay(10000);
}

在这个示例中，我们使用Arduino板和imu963ra磁力计进行校准。校准过程中需要将传感器在各个方向上旋转30秒，以获取最大值和最小值。校准完成后，将偏移值存储到EEPROM中，以便以后使用。请注意，此示例仅供参考，具体实现可能因传感器型号和使用环境而异。