I use MPU6050 for my project. I wanna ask about this code caculating the value of MPU6050 . The function below caculating the value of GYRO of MPU6050.
What is the range of the value of GYRO ? When I DEBUG by terminal I see that the value can be more than 22000. How can I reduce that value. Thanks !
bool MPU6050_ReadGyro(int16_t *pGYRO_X , int16_t *pGYRO_Y , int16_t *pGYRO_Z )
{
uint8_t buf[6];
bool ret = false;
if(mpu6050_register_read(MPU6050_GYRO_OUT, buf, 6) == true)
{
*pGYRO_X = (buf[0] << 8) | buf[1];
if(*pGYRO_X & 0x8000) *pGYRO_X-=65536;
*pGYRO_Y= (buf[2] << 8) | buf[3];
if(*pGYRO_Y & 0x8000) *pGYRO_Y-=65536;
*pGYRO_Z = (buf[4] << 8) | buf[5];
if(*pGYRO_Z & 0x8000) *pGYRO_Z-=65536;
ret = true;
}
return ret;
}
