配置MPU6500代码？

Question

我在配置MPU-6500时遇到了困难。我不知道如何校准它以获得准确的读数，因为我还是很陌生。我正在使用MPU-6500和我的Arduino Uno。下面是我在参考了我可以在网上找到的来源并尝试评论以试图理解代码后编写的代码。 MPU-6050有许多可用资源，但MPU-6500则不然。

#include<Wire.h>
const int MPU_addr = 0x68; // I2C address of the MPU-6500
int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ; //16-bit integer

void setup() {
  Wire.begin(); //join I2C bus
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x6B);  // PWR_MGMT_1 register
  Wire.write(0);     // set to zero (wakes up the MPU-6500)
  Wire.endTransmission(true); //sends a stop message after transmission, releasing I2C bus
  Serial.begin(9600);
}

void loop() {
  Wire.beginTransmission(MPU_addr);
  Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false); //sends a restart message after transmission
  Wire.requestFrom(MPU_addr, 14, true);
// master requests a total of 14 registers from slave, true = sends a stop message after the request, releasing I2C bus
  AcX = Wire.read() << 8; // 0x3B (ACCEL_XOUT_H) read most significant byte first
  AcX = Wire.read(); // 0x3C (ACCEL_XOUT_L) then least significant byte
  AcY = Wire.read() << 8; // 0x3D (ACCEL_YOUT_H) read most significant byte first
  AcY = Wire.read(); // 0x3E (ACCEL_YOUT_L) then least significant byte
  AcZ = Wire.read() << 8; // 0x3F (ACCEL_ZOUT_H)read most significant byte first
  AcZ = Wire.read(); // 0x40 (ACCEL_ZOUT_L) then least significant byte
  Tmp = Wire.read() << 8; // 0x41 (TEMP_OUT_H) read most significant byte first
  Tmp = Wire.read(); // 0x42 (TEMP_OUT_L) then least significant byte
  GyX = Wire.read() << 8; // 0x43 (GYRO_XOUT_H) read most significant byte first
  GyX = Wire.read(); // 0x44 (GYRO_XOUT_L) then least significant byte
  GyY = Wire.read() << 8; // 0x45 (GYRO_YOUT_H) read most significant byte first
  GyY = Wire.read(); // 0x46 (GYRO_YOUT_L) then least significant byte
  GyZ = Wire.read() << 8; // 0x47 (GYRO_ZOUT_H) read most significant byte first
  GyZ = Wire.read(); // 0x48 (GYRO_ZOUT_L) then least significant byte
  //results
  Serial.print("MPU-6500");
  Serial.println();
  Serial.print("Accelerometer X, Y, Z = "); //print accelerometer values
  Serial.print(AcX);
  Serial.print (", ");
  Serial.print(AcY);
  Serial.print (", ");
  Serial.print(AcZ);
  Serial.println();
  Serial.print("Temperature = "); //print temperature
  Serial.print(Tmp / 333.87 + 21); //equation for temperature in degrees C from datasheet
  Serial.print("°C");
  Serial.println();
  Serial.print("Gyroscope X, Y, Z = "); //print gyroscope values
  Serial.print(GyX);
  Serial.print (", ");
  Serial.print(GyY);
  Serial.print (", ");
  Serial.print(GyZ);
  Serial.println();
  Serial.print("\n");
  delay(2000);
}