/*******************************************************************************************************************************
*????????????????????????????????????????????????????Protocol?Common?Module????????????????????????????????????????????????????????????????????
*???????????????????????????????????????????????????Copyright（C）?KyleAi?2016??????????????????????????????????????????????????
*??????????????????????????????????????????????????????All?Rights?Reserved?????????????????????????????????????????????????????
*?@File????:?mpu9250.c?????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????
*?@Contact?:?aishunyi@163.com??????????????????????????????????????????????????????????????????????????????????????
*?@Version?:?1.0
*?@Author??:?KyleAi
*?@Date????:?2016.4.11
*?@Brief???:
*
*?@History?:
*?Date??????????Name????????????????Change?ID????Release????Description
*?----------????----------------????---------????-------????--------------------------------------------------------------------
*?*
*******************************************************************************************************************************/

/*?library?-------------------------------------------------------------------------------------------------------------------*/
????#include?
/*?Includes?------------------------------------------------------------------------------------------------------------------*/
????#include?“MEMS_NRF51822_1X0.h“
	#include?“spiHAL.h“
????#include?“mpu9250.h“
/*?Public?variables?----------------------------------------------------------------------------------------------------------*/
/*?Private?types?-------------------------------------------------------------------------------------------------------------*/
	typedef?union{
		struct{
			int16_t?_x;
			int16_t?_y;
			int16_t?_z;
		}axisdata;
		uint8_t?Byte_[6];
	}uMpu9250_AxisSwap_t;
/*?Private?constants?---------------------------------------------------------------------------------------------------------*/
/*?Private?macro?-------------------------------------------------------------------------------------------------------------*/
	#define?MPU9250_REGOPARRAY_LEN	2
	#define?MPU9250_CMDARRAY_LEN	（MPU9250_DATAGP_LEN?+?1）
	#define?MPU9250_RxARRAY_LEN		MPU9250_CMDARRAY_LEN
	#define?MPU9250_IDCODE_ADDR		0x75
	#define?MPU9250_PWRMGMT1_ADDR	0x6B
	#define?MPU9250_PWRMGMT2_ADDR	0x6C
	#define?MPU9250_USERCTRL_ADDR	0x6A
	#define?MPU9250_CNFG_ADDR		0x1A
	#define?MPU9250_GYROCNFG_ADDR	0x1B
	#define?MPU9250_ACCECNFG1_ADDR	0x1C
	#define?MPU9250_ACCECNFG2_ADDR	0x1D
	#define?MPU9250_SRD_ADDR		0x19
	#define?MPU9250_INTCFG_ADDR		0x37
	#define?MPU9250_INTEN_ADDR		0x38
	#define?MPU9250_INTST_ADDR		0x3A
	#define	MPU9250_GYRO_DATA_ADDR	0x43
	#define	MPU9250_ACCE_DATA_ADDR	0x3B
	/*?Defination

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

?????文件??????16636??2016-05-05?17:24??mpu9250_lib-spi\mpu9250.c

?????文件???????3693??2016-05-04?14:28??mpu9250_lib-spi\mpu9250.h

?????目錄??????????0??2016-05-26?10:40??mpu9250_lib-spi

-----------?---------??----------?-----??----

????????????????20329????????????????????3