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STM32F407模擬I2C中斷讀取MPU6050解算歐拉角,解算頻率100HZ,穩定性還不錯,yaw偏移很小,對四軸飛行器應該是夠了.

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代碼片段和文件信息

/**
??******************************************************************************
??*?@file????misc.c
??*?@author??MCD?Application?Team
??*?@version?V1.8.0
??*?@date????04-November-2016
??*?@brief???This?file?provides?all?the?miscellaneous?firmware?functions?(add-on
??*??????????to?CMSIS?functions).
??*??????????
??*??@verbatim???
??*???????????????????????????????
??*??????????===================================================================??????
??*????????????????????????How?to?configure?Interrupts?using?driver?
??*??????????===================================================================??????
??*?
??*????????????This?section?provide?functions?allowing?to?configure?the?NVIC?interrupts?(IRQ).
??*????????????The?Cortex-M4?exceptions?are?managed?by?CMSIS?functions.
??*
??*????????????1.?Configure?the?NVIC?Priority?Grouping?using?NVIC_PriorityGroupConfig()
??*????????????????function?according?to?the?following?table.
?
??*??The?table?below?gives?the?allowed?values?of?the?pre-emption?priority?and?subpriority?according
??*??to?the?Priority?Grouping?configuration?performed?by?NVIC_PriorityGroupConfig?function
??*????==========================================================================================================================
??*??????NVIC_PriorityGroup???|?NVIC_IRQChannelPreemptionPriority?|?NVIC_IRQChannelSubPriority??|???????Description
??*????==========================================================================================================================
??*?????NVIC_PriorityGroup_0??|????????????????0??????????????????|????????????0-15?????????????|?0?bits?for?pre-emption?priority
??*???????????????????????????|???????????????????????????????????|?????????????????????????????|?4?bits?for?subpriority
??*????--------------------------------------------------------------------------------------------------------------------------
??*?????NVIC_PriorityGroup_1??|????????????????0-1????????????????|????????????0-7??????????????|?1?bits?for?pre-emption?priority
??*???????????????????????????|???????????????????????????????????|?????????????????????????????|?3?bits?for?subpriority
??*????--------------------------------------------------------------------------------------------------------------------------????
??*?????NVIC_PriorityGroup_2??|????????????????0-3????????????????|????????????0-3??????????????|?2?bits?for?pre-emption?priority
??*???????????????????????????|???????????????????????????????????|?????????????????????????????|?2?bits?for?subpriority
??*????--------------------------------------------------------------------------------------------------------------------------????
??*?????NVIC_PriorityGroup_3??|????????????????0-7????????????????|????????????0-1??????????????|?3?bits?for?pre-emption?priority
??*???????????????????????????|???????????????????????????????????|?????????????????????????????|?1?bits?for?subpriority
??*????---------------------------------------------

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件?????114403??2016-11-05?01:33??f407_mpu6050\cmsys\core_cm4.h

?????文件??????18323??2016-11-05?01:33??f407_mpu6050\cmsys\core_cmFunc.h

?????文件??????27908??2016-11-05?01:33??f407_mpu6050\cmsys\core_cmInstr.h

?????文件??????22947??2016-11-05?01:33??f407_mpu6050\cmsys\core_cmSimd.h

?????文件??????29607??2016-11-07?23:02??f407_mpu6050\cmsys\startup_stm32f40_41xxx.s

?????文件???????2851??2017-11-21?16:21??f407_mpu6050\DebugConfig\Target_1_STM32F429ZITx.dbgconf

?????文件????????339??2019-08-23?20:40??f407_mpu6050\EventRecorderStub.scvd

?????文件???????6926??2016-11-05?01:33??f407_mpu6050\head\misc.h

?????文件?????940126??2019-07-16?22:14??f407_mpu6050\head\stm32f4xx.h

?????文件??????33008??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_adc.h

?????文件??????27849??2016-11-08?23:33??f407_mpu6050\head\stm32f4xx_can.h

?????文件??????12446??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_cec.h

?????文件???????5851??2016-11-09?02:19??f407_mpu6050\head\stm32f4xx_conf.h

?????文件???????2418??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_crc.h

?????文件??????14483??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_cryp.h

?????文件??????14948??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_dac.h

?????文件???????4298??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_dbgmcu.h

?????文件??????12979??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_dcmi.h

?????文件??????46290??2016-11-09?01:41??f407_mpu6050\head\stm32f4xx_dfsdm.h

?????文件??????28884??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_dma.h

?????文件??????19703??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_dma2d.h

?????文件??????41450??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_dsi.h

?????文件???????8117??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_exti.h

?????文件??????25092??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_flash.h

?????文件???????3277??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_flash_ramfunc.h

?????文件??????19235??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_fmpi2c.h

?????文件??????27183??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_fsmc.h

?????文件??????29269??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_gpio.h

?????文件??????10086??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_hash.h

?????文件??????31937??2016-11-05?01:33??f407_mpu6050\head\stm32f4xx_i2c.h

............此處省略103個文件信息

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