/*****************************************************
Date????:?2013-7-2
Author??:?Catluoq
Chip?type???????????????:?ATmega16
Program?type????????????:?Application
AVR?Core?Clock?frequency:?16.000000?MHz
Memory?model????????????:?Small
External?RAM?size???????:?0
Data?Stack?size?????????:?256
*****************************************************/

#include?
#include?
#include?
#include?
#include?
#include?
#include???/*?從WINAVR目錄C:\WinAVR\avr\include\util?中拷貝來，刪除了#include?一句?*/

unsigned?char?dmpdatas[42];
unsigned?char?i2cw=0xd0;
unsigned?char?i2cr=0xd1;
float?quartf[4];?/*?四元數*/
float?gyrof[3];??/*?陀螺儀讀數*/
float?accelf[3];?/*?加速度值*/
float?yprf[3];???/*?Euler?角度*/

//以下的?firmware?及?config?update?數據來自于?Jeff?Jrowberg?公開的程序
flash?unsigned?char?dmpmemorydata[1929]={
?//?bank?0?256?bytes
????0xFB?0x00?0x00?0x3E?0x00?0x0B?0x00?0x36?0x00?0x01?0x00?0x02?0x00?0x03?0x00?0x00
????0x00?0x65?0x00?0x54?0xFF?0xEF?0x00?0x00?0xFA?0x80?0x00?0x0B?0x12?0x82?0x00?0x01
????0x00?0x02?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00
????0x00?0x28?0x00?0x00?0xFF?0xFF?0x45?0x81?0xFF?0xFF?0xFA?0x72?0x00?0x00?0x00?0x00
????0x00?0x00?0x03?0xE8?0x00?0x00?0x00?0x01?0x00?0x01?0x7F?0xFF?0xFF?0xFE?0x80?0x01
????0x00?0x1B?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00
????0x00?0x3E?0x03?0x30?0x40?0x00?0x00?0x00?0x02?0xCA?0xE3?0x09?0x3E?0x80?0x00?0x00
????0x20?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x40?0x00?0x00?0x00?0x60?0x00?0x00?0x00
????0x41?0xFF?0x00?0x00?0x00?0x00?0x0B?0x2A?0x00?0x00?0x16?0x55?0x00?0x00?0x21?0x82
????0xFD?0x87?0x26?0x50?0xFD?0x80?0x00?0x00?0x00?0x1F?0x00?0x00?0x00?0x05?0x80?0x00
????0x00?0x00?0x00?0x00?0x00?0x01?0x00?0x00?0x00?0x02?0x00?0x00?0x00?0x03?0x00?0x00
????0x40?0x00?0x00?0x00?0x00?0x00?0x04?0x6F?0x00?0x02?0x65?0x32?0x00?0x00?0x5E?0xC0
????0x40?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00
????0xFB?0x8C?0x6F?0x5D?0xFD?0x5D?0x08?0xD9?0x00?0x7C?0x73?0x3B?0x00?0x6C?0x12?0xCC
????0x32?0x00?0x13?0x9D?0x32?0x00?0xD0?0xD6?0x32?0x00?0x08?0x00?0x40?0x00?0x01?0xF4
????0xFF?0xE6?0x80?0x79?0x02?0x00?0x00?0x00?0x00?0x00?0xD0?0xD6?0x00?0x00?0x27?0x10

????//?bank?1?256?bytes
????0xFB?0x00?0x00?0x00?0x40?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00?0x00
????0x00?0x00?0x00?0x01?0x00?0x00?0x00?0x00?0x00?0x00?0x01?0x00?0x01?0x00?0x00?0x00
????0x00?0x00?0xFA?0x36?0xFF?0xBC?0x30?0x8E?0x00?0x05?0xFB?0xF0?0xFF?0xD9?0x5B?0xC8
????0xFF?0xD0?0x9A?0xBE?0x00?0x00?0x10?0xA9?0xFF?0xF4?0x1E?0xB2?0x00?0xCE?0xBB?0xF7
????0x00?0x00?0x00?0x01?0x00?0x00?0x00?0x04?0x00?0x02?0x00?0x02?0

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

?????文件???????2030??2010-10-28?03:30??K60_MPU6050?-?DMP\build\config?files\128KB_Pflash.icf

?????文件???????2206??2010-11-12?03:41??K60_MPU6050?-?DMP\build\config?files\128KB_Pflash_128KB_Dflash.icf

?????文件???????2035??2012-02-28?15:33??K60_MPU6050?-?DMP\build\config?files\128KB_Ram.icf

?????文件???????2030??2010-10-28?03:30??K60_MPU6050?-?DMP\build\config?files\256KB_Pflash.icf

?????文件???????2214??2012-03-01?20:12??K60_MPU6050?-?DMP\build\config?files\256KB_Pflash_256KB_Dflash.icf

?????文件???????2024??2010-10-28?03:30??K60_MPU6050?-?DMP\build\config?files\32KB_Ram.icf

?????文件???????2041??2012-03-01?18:46??K60_MPU6050?-?DMP\build\config?files\512KB_Pflash.icf

?????文件???????2217??2010-11-12?03:41??K60_MPU6050?-?DMP\build\config?files\64KB_Pflash_64KB_Dflash.icf

?????文件???????2024??2010-10-28?03:30??K60_MPU6050?-?DMP\build\config?files\64KB_Ram.icf

?????文件???????3463??2012-03-08?21:04??K60_MPU6050?-?DMP\build\config?files\fire_RAM_K60N512.icf

?????文件???????3441??2012-03-08?21:04??K60_MPU6050?-?DMP\build\config?files\fire_ROM_K60N512.icf

?????文件??????42318??2013-11-07?13:37??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Exe\fire_gpio_demo.hex

?????文件?????207984??2013-11-07?13:37??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Exe\fire_gpio_demo.out

?????文件??????15075??2013-11-07?13:37??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Exe\fire_gpio_demo.sim

?????文件??????26627??2013-11-07?13:37??K60_MPU6050?-?DMP\build\i2c_demo\Debug\List\fire_gpio_demo.map

?????文件??????26244??2013-10-27?13:47??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\adc.o

?????文件??????11572??2013-10-27?13:47??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\alloc.o

?????文件??????16752??2013-10-27?13:47??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\arm_cm4.o

?????文件???????8400??2013-10-27?13:47??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\assert.o

?????文件???????4884??2013-01-17?21:34??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\AT24C02.o

?????文件???????1856??2013-01-17?21:34??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\crt0.o

?????文件???????9056??2013-10-27?13:47??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\delay.o

?????文件???????8300??2013-10-27?13:47??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\exti.o

?????文件???????2085??2013-11-07?13:37??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\fire_i2c_demo.pbd

?????文件??????21588??2013-10-27?13:47??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\FTM.o

?????文件??????17888??2013-10-27?13:47??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\gpio.o

?????文件??????25968??2013-10-28?22:04??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\i2c.o

?????文件?????118720??2013-10-28?22:04??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\inv_mpu.o

?????文件??????69800??2013-10-27?18:52??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\inv_mpu_dmp_motion_driver.o

?????文件??????10184??2013-10-27?17:35??K60_MPU6050?-?DMP\build\i2c_demo\Debug\Obj\io.o

............此處省略248個文件信息