资源简介
陀螺仪官方DMP库输出四元函数
代码片段和文件信息
/*
$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 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 “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 standard TWI driver from the ASF library we‘re using
* a TWI driver that follows the slave address + register address convention.
*/
#include “twi.h“
#include “delay.h“
#include “sysclk.h“
#include “log.h“
#inc
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
文件 521 2012-12-14 11:14 em
文件 15703 2012-12-14 11:14 em
文件 2582 2012-12-14 11:14 em
文件 93 2012-12-14 11:14 em
文件 1351 2012-12-14 11:14 em
文件 154 2012-12-14 11:14 em
文件 19342 2012-12-14 11:16 em
文件 6765 2012-12-14 11:16 em
文件 82774 2012-12-14 11:16 em
文件 4469 2012-12-14 11:16 em
文件 58237 2012-12-14 11:16 em
文件 3538 2012-12-14 11:16 em
文件 4841 2012-12-14 11:16 em
文件 5039 2012-12-14 11:16 em
文件 2235 2012-12-14 11:16 em
文件 3131 2012-12-14 11:16 em
文件 2740 2012-12-14 11:16 em
文件 9835 2012-12-14 11:16 em
文件 6200 2012-12-14 11:16 em
文件 6371 2012-12-14 11:16 em
文件 11100 2012-12-14 11:16 em
文件 9847 2012-12-14 11:16 em
文件 7886 2012-12-14 11:16 em
文件 1301 2012-12-14 11:16 em
文件 6305 2012-12-14 11:16 em
文件 3497 2012-12-14 11:16 em
文件 9723 2012-12-14 11:16 em
文件 2343 2012-12-14 11:16 em
文件 7389 2012-12-14 11:16 em
文件 2709 2012-12-14 11:16 em
............此处省略58个文件信息
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