/*
?$License:
????Copyright?（C）?2011-2012?InvenSense?Corporation?All?Rights?Reserved.
????See?included?License.txt?for?License?information.
?$
?*/
/**
?*??@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?“inv_mpu.h“
#include?“stm32f10x.h“
#include?“STM32_I2C.h“
#include?“delay.h“
#include?“Time.h“
#include?“usart.h“
/*?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）
?*/
#define?MPU6050
#define?MOTION_DRIVER_TARGET_MSP430

#if?defined?MOTION_DRIVER_TARGET_MSP430
/*#include?“msp430.h“
#include?“msp430_i2c.h“
#include?“msp430_clock.h“
#include?“msp430_interrupt.h“?*/

#define?i2c_write???i2cwrite
#define?i2c_read????i2cread
#define?delay_ms????delay_ms
#define?get_ms??????get_ms

//static?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）;*/
//		return?0;
//}	??
//#define?log_i（...）?????do?{}?while?（0）
//#define?log_e（...）?????do?{}?while?（0）
#define?log_e????PrintChar
#define?log_i????PrintChar
/*?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_TARGET_UC3L0
/*?Instead?of?using?the

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

?????文件??????19342??2012-12-14?11:16??DMp\eMPL\dmpKey.h

?????文件???????6765??2012-12-14?11:16??DMp\eMPL\dmpmap.h

?????文件??????84559??2013-07-25?14:17??DMp\eMPL\inv_mpu.c

?????文件???????4452??2013-06-13?17:19??DMp\eMPL\inv_mpu.h

?????文件??????58392??2013-06-13?21:03??DMp\eMPL\inv_mpu_dmp_motion_driver.c

?????文件???????3538??2013-06-13?16:52??DMp\eMPL\inv_mpu_dmp_motion_driver.h

?????文件??????17273??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\CoreSupport\core_cm3.c

?????文件??????85714??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\CoreSupport\core_cm3.h

?????文件??????25107??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\Release_Notes_for_STM32F10x_CMSIS.html

?????文件??????15763??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_cl.s

?????文件??????15500??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_hd.s

?????文件??????15767??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_hd_vl.s

?????文件??????12373??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_ld.s

?????文件??????13653??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_ld_vl.s

?????文件??????12762??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_md.s

?????文件??????14070??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_md_vl.s

?????文件??????15952??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_xl.s

?????文件??????12955??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_cl.s

?????文件??????13042??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_hd.s

?????文件??????12451??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_hd_vl.s

?????文件???????9698??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_ld.s

?????文件??????10445??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_ld_vl.s

?????文件??????10154??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_md.s

?????文件??????10941??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_md_vl.s

?????文件??????13143??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_xl.s

?????文件??????16629??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_cl.s

?????文件??????16231??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_hd.s

?????文件??????15791??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_hd_vl.s

?????文件??????12653??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_ld.s

?????文件??????12952??2010-10-18?20:09??DMp\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_ld_vl.s

............此處省略189個文件信息