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調試了一天,終于寫好,主要是DMP的代碼不好懂,同時在IIC協議方面最折騰,現在可以準確顯示三軸角度數據,串口顯示,庫函數以野火的為準,好東西大家一起分享。

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代碼片段和文件信息

/**************************************************************************//**
?*?@file?????core_cm3.c
?*?@brief????CMSIS?Cortex-M3?Core?Peripheral?Access?layer?Source?File
?*?@version??V1.30
?*?@date?????30.?October?2009
?*
?*?@note
?*?Copyright?(C)?2009?ARM?Limited.?All?rights?reserved.
?*
?*?@par
?*?ARM?Limited?(ARM)?is?supplying?this?software?for?use?with?Cortex-M?
?*?processor?based?microcontrollers.??This?file?can?be?freely?distributed?
?*?within?development?tools?that?are?supporting?such?ARM?based?processors.?
?*
?*?@par
?*?THIS?SOFTWARE?IS?PROVIDED?“AS?IS“.??NO?WARRANTIES?WHETHER?EXPRESS?IMPLIED
?*?OR?STATUTORY?INCLUDING?BUT?NOT?LIMITED?TO?IMPLIED?WARRANTIES?OF
?*?MERCHANTABILITY?AND?FITNESS?FOR?A?PARTICULAR?PURPOSE?APPLY?TO?THIS?SOFTWARE.
?*?ARM?SHALL?NOT?IN?ANY?CIRCUMSTANCES?BE?LIABLE?FOR?SPECIAL?INCIDENTAL?OR
?*?CONSEQUENTIAL?DAMAGES?FOR?ANY?REASON?WHATSOEVER.
?*
?******************************************************************************/

#include?

/*?define?compiler?specific?symbols?*/
#if?defined?(?__CC_ARM???)
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????__inline???????????????????????????????????/*!
#elif?defined?(?__ICCARM__?)
??#define?__ASM???????????__asm???????????????????????????????????????/*!??#define?__INLINE????????inline??????????????????????????????????????/*!
#elif?defined???(??__GNUC__??)
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????inline?????????????????????????????????????/*!
#elif?defined???(??__TASKING__??)
??#define?__ASM????????????__asm??????????????????????????????????????/*!??#define?__INLINE?????????inline?????????????????????????????????????/*!
#endif


/*?###################??Compiler?specific?Intrinsics??###########################?*/

#if?defined?(?__CC_ARM???)?/*------------------RealView?Compiler?-----------------*/
/*?ARM?armcc?specific?functions?*/

/**
?*?@brief??Return?the?Process?Stack?Pointer
?*
?*?@return?ProcessStackPointer
?*
?*?Return?the?actual?process?stack?pointer
?*/
__ASM?uint32_t?__get_PSP(void)
{
??mrs?r0?psp
??bx?lr
}

/**
?*?@brief??Set?the?Process?Stack?Pointer
?*
?*?@param??topOfProcStack??Process?Stack?Pointer
?*
?*?Assign?the?value?ProcessStackPointer?to?the?MSP?
?*?(process?stack?pointer)?Cortex?processor?register
?*/
__ASM?void?__set_PSP(uint32_t?topOfProcStack)
{
??msr?psp?r0
??bx?lr
}

/**
?*?@brief??Return?the?Main?Stack?Pointer
?*
?*?@return?Main?Stack?Pointer
?*
?*?Return?the?curren

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-05-15?20:35??MPU6050_DMP模式STM32(庫函數版本)\
?????目錄???????????0??2017-05-15?20:35??MPU6050_DMP模式STM32(庫函數版本)\CORE\
?????文件???????17273??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\CORE\core_cm3.c
?????文件???????85714??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\CORE\core_cm3.h
?????文件???????15766??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\CORE\startup_stm32f10x_cl.s
?????文件???????15503??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\CORE\startup_stm32f10x_hd.s
?????文件???????15692??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\CORE\startup_stm32f10x_hd_vl.s
?????文件???????12376??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\CORE\startup_stm32f10x_ld.s
?????文件???????13656??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\CORE\startup_stm32f10x_ld_vl.s
?????文件???????12765??2017-05-15?17:39??MPU6050_DMP模式STM32(庫函數版本)\CORE\startup_stm32f10x_md.s
?????文件???????14073??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\CORE\startup_stm32f10x_md_vl.s
?????文件???????15955??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\CORE\startup_stm32f10x_xl.s
?????文件?????????399??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\keilkilll.bat
?????目錄???????????0??2018-01-05?15:29??MPU6050_DMP模式STM32(庫函數版本)\MyCode\
?????目錄???????????0??2018-01-05?14:50??MPU6050_DMP模式STM32(庫函數版本)\MyCode\DMP\
?????文件???????19342??2012-12-14?11:16??MPU6050_DMP模式STM32(庫函數版本)\MyCode\DMP\dmpKey.h
?????文件????????6765??2012-12-14?11:16??MPU6050_DMP模式STM32(庫函數版本)\MyCode\DMP\dmpmap.h
?????文件???????84289??2018-01-05?14:50??MPU6050_DMP模式STM32(庫函數版本)\MyCode\DMP\inv_mpu.c
?????文件????????4335??2015-07-09?14:05??MPU6050_DMP模式STM32(庫函數版本)\MyCode\DMP\inv_mpu.h
?????文件???????58049??2017-05-14?11:48??MPU6050_DMP模式STM32(庫函數版本)\MyCode\DMP\inv_mpu_dmp_motion_driver.c
?????文件????????3386??2015-07-09?14:05??MPU6050_DMP模式STM32(庫函數版本)\MyCode\DMP\inv_mpu_dmp_motion_driver.h
?????目錄???????????0??2018-01-05?15:29??MPU6050_DMP模式STM32(庫函數版本)\MyCode\IIC\
?????文件????????4858??2018-01-05?15:29??MPU6050_DMP模式STM32(庫函數版本)\MyCode\IIC\STM32_I2C.c
?????文件????????1875??2013-06-13?22:10??MPU6050_DMP模式STM32(庫函數版本)\MyCode\IIC\STM32_I2C.h
?????目錄???????????0??2017-05-15?20:35??MPU6050_DMP模式STM32(庫函數版本)\MyCode\led\
?????文件?????????834??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\MyCode\led\LED.c
?????文件?????????139??2016-07-12?21:24??MPU6050_DMP模式STM32(庫函數版本)\MyCode\led\LED.h
?????目錄???????????0??2018-01-05?15:29??MPU6050_DMP模式STM32(庫函數版本)\MyCode\MPU6050\
?????文件????????4895??2018-01-05?14:49??MPU6050_DMP模式STM32(庫函數版本)\MyCode\MPU6050\MPU6050.c
?????文件???????14970??2017-05-15?17:48??MPU6050_DMP模式STM32(庫函數版本)\MyCode\MPU6050\mpu6050.h
?????目錄???????????0??2018-01-05?20:56??MPU6050_DMP模式STM32(庫函數版本)\OBJ\
............此處省略144個文件信息

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