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利用MPU6050中的DMP 讀取 四元數 對部分DMP程序進行了注釋 幫助大家理解DMP

代碼片段和文件信息
#include?
#include?“delay.h“
void?SYSTICK_Configuration(void)
{
SysTick_CounterCmd(SysTick_Counter_Disable);
SysTick_ITConfig(DISABLE);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);? //72MHz/8?=?9MHz
// SysTick_SetReload(9000*1000);
//// SysTick_ITConfig(ENABLE);?
// SysTick_CounterCmd(SysTick_Counter_Enable);??
}
void?delay_ms(u16?nms)
{
SysTick_SetReload(9000*nms);?
SysTick_CounterCmd(SysTick_Counter_Enable);
while(SysTick_GetFlagStatus(SysTick_FLAG_COUNT)==RESET);
SysTick_CounterCmd(SysTick_Counter_Disable);
}
void?delay_us(u32?nus)
{
SysTick_SetReload(9*nus);
SysTick_CounterCmd(SysTick_Counter_Enable);
while(SysTick_GetFlagStatus(SysTick_FLAG_COUNT)==RESET);
SysTick_CounterCmd(SysTick_Counter_Disable);
}
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????91??2015-02-20?17:31??MPU\bsp\bsp.h
?????文件????????866??2015-02-19?21:59??MPU\bsp\delay.c
?????文件????????175??2015-02-19?21:59??MPU\bsp\delay.h
?????文件???????4566??2015-07-25?15:02??MPU\bsp\I2C.c
?????文件???????1022??2015-02-20?10:23??MPU\bsp\I2C.h
?????文件????????415??2013-10-02?09:57??MPU\bsp\NVIC.c
?????文件?????????32??2013-10-02?09:57??MPU\bsp\NVIC.h
?????文件???????1411??2015-02-20?19:29??MPU\bsp\rcc.c
?????文件?????????31??2013-09-19?22:21??MPU\bsp\rcc.h
?????文件????????535??2013-10-02?09:56??MPU\bsp\TIM2.c
?????文件?????????32??2013-10-02?09:57??MPU\bsp\TIM2.h
?????文件???????3447??2015-02-20?19:53??MPU\bsp\USART.c
?????文件????????296??2015-02-20?17:31??MPU\bsp\USART.h
?????文件??????19342??2012-12-14?11:16??MPU\dmp\dmpKey.h
?????文件???????6765??2012-12-14?11:16??MPU\dmp\dmpmap.h
?????文件??????86494??2015-02-20?19:05??MPU\dmp\inv_mpu.c
?????文件???????4686??2013-12-21?23:15??MPU\dmp\inv_mpu.h
?????文件??????58678??2015-02-20?10:17??MPU\dmp\inv_mpu_dmp_motion_driver.c
?????文件???????3538??2013-06-13?16:52??MPU\dmp\inv_mpu_dmp_motion_driver.h
?????文件???????1581??2015-04-15?20:47??MPU\dmp\read.c
?????文件?????????22??2015-02-20?17:39??MPU\dmp\read.h
?????文件????????497??2015-08-06?21:57??MPU\Jli
?????文件?????290268??2015-08-06?21:57??MPU\Jli
?????文件????????285??2015-08-06?20:49??MPU\Jli
?????文件???????2356??2009-09-12?21:52??MPU\lib\inc\cortexm3_macro.h
?????文件???????2158??2009-09-02?17:36??MPU\lib\inc\ip_arp_udp_tcp.h
?????文件???????1086??2009-09-02?17:36??MPU\lib\inc\LCD1620.h
?????文件??????21514??2009-09-20?01:07??MPU\lib\inc\stm32f10x_adc.h
?????文件???????8251??2009-09-07?21:43??MPU\lib\inc\stm32f10x_bkp.h
?????文件??????12410??2009-09-02?17:36??MPU\lib\inc\stm32f10x_can.h
............此處省略154個文件信息
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