/*
?$License:
????Copyright?（C）?2011-2012?InvenSense?Corporation?All?Rights?Reserved.
????See?included?License.txt?for?License?information.
?$
?*/
/**
?*??@addtogroup??DRIVERS?Sensor?Driver?layer
?*??@brief???????Hardware?drivers?to?communicate?with?sensors?via?I2C.
?*
?*??@{
?*??????@file???????inv_mpu.c
?*??????@brief??????An?I2C-based?driver?for?Invensense?gyroscopes.
?*??????@details????This?driver?currently?works?for?the?following?devices:
?*??????????????????MPU6050
?*??????????????????MPU6500
?*??????????????????MPU9150?（or?MPU6050?w/?AK8975?on?the?auxiliary?bus）
?*??????????????????MPU9250?（or?MPU6500?w/?AK8963?on?the?auxiliary?bus）
?*/
#include?
#include?
#include?
#include?
#include?
#include?“stm32f4xx.h“
#include?“sys.h“
#include?“i2c.h“
#include?“inv_mpu.h“
#include?“inv_mpu_dmp_motion_driver.h“
#include?“mpu6050.h“
#include?“delay.h“
#include?“usart.h“


#define?MPU6050							//定義我們使用的傳感器為MPU6050
#define?MOTION_DRIVER_TARGET_MSP430		//定義驅動部分采用MSP430的驅動（移植到STM32F4）

/*?The?following?functions?must?be?defined?for?this?platform:
?*?i2c_write（unsigned?char?slave_addr?unsigned?char?reg_addr
?*??????unsigned?char?length?unsigned?char?const?*data）
?*?i2c_read（unsigned?char?slave_addr?unsigned?char?reg_addr
?*??????unsigned?char?length?unsigned?char?*data）
?*?delay_ms（unsigned?long?num_ms）
?*?get_ms（unsigned?long?*count）
?*?reg_int_cb（void?（*cb）（void）?unsigned?char?port?unsigned?char?pin）
?*?labs（long?x）
?*?fabsf（float?x）
?*?min（int?a?int?b）
?*/
#if?defined?MOTION_DRIVER_TARGET_MSP430
//#include?“msp430.h“
//#include?“msp430_i2c.h“
//#include?“msp430_clock.h“
//#include?“msp430_interrupt.h“

#define?i2c_write???MPU_Write_Len
#define?i2c_read????MPU_Read_Len
#define?delay_ms????delay_ms
#define?get_ms??????mget_ms
//static?inline?int?reg_int_cb（struct?int_param_s?*int_param）
//{
//????return?msp430_reg_int_cb（int_param->cb?int_param->pin?int_param->lp_exit
//????????int_param->active_low）;
//}
#define?log_i?	printf	//打印信息
#define?log_e??	printf	//打印信息
/*?labs?is?already?defined?by?TI‘s?toolchain.?*/
/*?fabs?is?for?doubles.?fabsf?is?for?floats.?*/
#define?fabs????????fabsf
#define?min（ab）?（（a#elif?defined?EMPL_TARGET_MSP430
#include?“msp430.h“
#include?“msp430_i2c.h“
#include?“msp430_clock.h“
#include?“msp430_interrupt.h“
#include?“log.h“
#define?i2c_write???msp430_i2c_write
#define?i2c_read????msp430_i2c_read
#define?delay_ms????msp430_delay_ms
#define?get_ms??????msp430_get_clock_ms
static?inline?int?reg_int_cb（struct?int_param_s?*int_param）
{
????return?msp430_reg_int_cb（int_param->cb?int_param->pin?int_param->lp_exit
????????int_param->active_low）;
}
#define?log_i???????MPL_LOGI
#define?log_e???????MPL_LOGE
/*?labs?is?already?defined?by?TI‘s?toolchain.?*/
/*?fabs?is?for?doubles.?fabsf?is?for?floats.?*/
#define?fabs????????fabsf
#define?min（ab）?（（a#elif?defined?EMPL_T

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2020-08-20?15:51??基于stm32智能手環\
?????文件??????188225??2020-06-29?21:22??基于stm32智能手環\JlinkLog.txt
?????文件?????????755??2020-05-12?19:29??基于stm32智能手環\JlinkSettings.ini
?????目錄???????????0??2020-06-29?15:34??基于stm32智能手環\Listings\
?????文件??????292629??2020-06-29?21:20??基于stm32智能手環\Listings\Template.map
?????文件???????82505??2020-06-27?15:40??基于stm32智能手環\Listings\startup_stm32f40_41xxx.lst
?????目錄???????????0??2020-06-29?15:34??基于stm32智能手環\MYCODE\
?????文件???????14896??2020-06-29?15:42??基于stm32智能手環\MYCODE\MAX30102.c
?????文件????????2668??2020-06-21?12:44??基于stm32智能手環\MYCODE\MAX30102.h
?????文件????????5506??2020-06-20?12:00??基于stm32智能手環\MYCODE\MPU6050.c
?????文件????????4535??2020-06-29?14:33??基于stm32智能手環\MYCODE\MPU6050.h
?????文件???????13067??2020-06-29?14:59??基于stm32智能手環\MYCODE\OLED_I2C.c
?????文件????????1424??2020-06-21?17:20??基于stm32智能手環\MYCODE\OLED_I2C.h
?????文件????????2216??2020-06-06?16:47??基于stm32智能手環\MYCODE\adc.c
?????文件?????????122??2020-06-29?10:44??基于stm32智能手環\MYCODE\adc.h
?????文件???????15904??2020-06-27?22:21??基于stm32智能手環\MYCODE\algorithm.c
?????文件????????4120??2020-06-23?20:17??基于stm32智能手環\MYCODE\algorithm.h
?????文件?????????534??2020-06-06?14:45??基于stm32智能手環\MYCODE\beep.c
?????文件?????????131??2020-05-17?10:29??基于stm32智能手環\MYCODE\beep.h
?????文件???????23390??2020-06-20?12:11??基于stm32智能手環\MYCODE\codetab.h
?????文件????????1002??2020-06-07?10:00??基于stm32智能手環\MYCODE\dac.c
?????文件??????????94??2020-06-07?08:22??基于stm32智能手環\MYCODE\dac.h
?????文件????????1754??2020-05-23?16:47??基于stm32智能手環\MYCODE\delay.c
?????文件?????????177??2020-06-29?10:41??基于stm32智能手環\MYCODE\delay.h
?????文件????????3144??2020-05-31?16:49??基于stm32智能手環\MYCODE\dht11.c
?????文件?????????242??2020-05-31?16:51??基于stm32智能手環\MYCODE\dht11.h
?????文件????????4978??2020-06-29?14:39??基于stm32智能手環\MYCODE\exti.c
?????文件?????????107??2020-06-29?10:41??基于stm32智能手環\MYCODE\exti.h
?????文件????????2658??2020-06-20?19:53??基于stm32智能手環\MYCODE\i2c.c
?????文件?????????877??2020-06-17?20:03??基于stm32智能手環\MYCODE\i2c.h
?????文件????????3840??2020-06-07?17:19??基于stm32智能手環\MYCODE\iic.c
............此處省略160個文件信息