/*
?$License:
????Copyright?（C）?2011-2012?InvenSense?Corporation?All?Rights?Reserved.
????See?included?License.txt?for?License?information.
?$
?*/
/**
?*??@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“

/*?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?EMPL_TARGET_STM32F4
#include?“i2c.h“???
#include?“main.h“
#include?“l(fā)og.h“
#include?“board-st_discovery.h“
???
#define?i2c_write???Sensors_I2C_WriteRegister
#define?i2c_read????Sensors_I2C_ReadRegister?
#define?delay_ms????mdelay
#define?get_ms??????get_tick_count
#define?log_i???????MPL_LOGI
#define?log_e???????MPL_LOGE
#define?min（ab）?（（a???
#elif?defined?MOTION_DRIVER_TARGET_MSP430
#include?“msp430.h“
#include?“msp430_i2c.h“
#include?“msp430_clock.h“
#include?“msp430_interrupt.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（...）?????do?{}?while?（0）
#define?log_e（...）?????do?{}?while?（0）
/*?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?“l(fā)og.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.?*/

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件????21597344??2014-07-18?08:49??motion_driver_6.12\documentation\STM32F4\RM0090——F4參考手冊(cè).pdf
?????文件????21815030??2017-12-19?13:24??motion_driver_6.12\documentation\STM32F4\F429參考手冊(cè).pdf
?????文件?????3180804??2017-12-19?13:20??motion_driver_6.12\documentation\STM32F4\F429數(shù)據(jù)手冊(cè).pdf
?????文件?????3481888??2017-12-19?13:46??motion_driver_6.12\documentation\STM32F4\F429編程手冊(cè).pdf
?????目錄???????????0??2018-01-26?17:17??motion_driver_6.12\documentation\STM32F4\
?????目錄???????????0??2015-05-07?02:06??motion_driver_6.12\
?????目錄???????????0??2015-05-07?02:06??motion_driver_6.12\arm\
?????目錄???????????0??2015-05-07?02:06??motion_driver_6.12\arm\STM32F4_MD6\
?????目錄???????????0??2015-05-07?02:06??motion_driver_6.12\arm\STM32F4_MD6\Projects\
?????目錄???????????0??2015-05-07?02:06??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\
?????目錄???????????0??2015-05-07?02:06??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\Binary\
?????文件???????21606??2013-01-08?02:09??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\Binary\STM32L-Discovery.hex
?????目錄???????????0??2015-05-07?02:06??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\
?????目錄???????????0??2015-05-07?02:06??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\
?????目錄???????????0??2015-05-07?02:06??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\eMPL\
?????文件???????19342??2013-01-08?02:09??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\eMPL\dmpKey.h
?????文件????????6765??2013-01-08?02:09??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\eMPL\dmpmap.h
?????文件???????98921??2015-05-05?07:08??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\eMPL\inv_mpu.c
?????文件????????4815??2014-07-16?06:21??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\eMPL\inv_mpu.h
?????文件???????58481??2014-07-17?07:19??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\eMPL\inv_mpu_dmp_motion_driver.c
?????文件????????3538??2014-06-27?08:39??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\eMPL\inv_mpu_dmp_motion_driver.h
?????目錄???????????0??2015-05-07?02:06??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\include\
?????文件???????10450??2013-01-08?02:09??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\include\log.h
?????文件????????1014??2013-01-08?02:09??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\include\mlinclude.h
?????文件????????2264??2013-01-08?02:09??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\include\mlmath.h
?????文件????????2134??2013-01-08?02:09??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\include\mlos.h
?????文件????????9514??2014-06-27?08:36??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\include\mltypes.h
?????文件???????11753??2013-01-08?02:09??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\include\mpu.h
?????文件?????????834??2013-01-08?02:09??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\include\stdint_invensense.h
?????目錄???????????0??2015-05-07?02:06??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\stm32L\
?????文件????????6052??2014-07-17?07:45??motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\stm32L\log_stm32.c
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