STM32F407VE实现软件IIC读取mpu6050数据

STM32F407VE实现软件IIC读取mpu6050数据，并依靠串口返回原始数据以及欧拉角

/**
  ******************************************************************************
  * @file    misc.c
  * @author  MCD Application Team
  * @version V1.5.0
  * @date    06-March-2015
  * @brief   This file provides all the miscellaneous firmware functions （add-on
  *          to CMSIS functions）.
  *          
  *  @verbatim   
  *                               
  *          ===================================================================      
  *                        How to configure Interrupts using driver 
  *          ===================================================================      
  * 
  *            This section provide functions allowing to configure the NVIC interrupts （IRQ）.
  *            The Cortex-M4 exceptions are managed by CMSIS functions.
  *
  *            1. Configure the NVIC Priority Grouping using NVIC_PriorityGroupConfig（）
  *                function according to the following table.
 
  *  The table below gives the allowed values of the pre-emption priority and subpriority according
  *  to the Priority Grouping configuration performed by NVIC_PriorityGroupConfig function
  *    ==========================================================================================================================
  *      NVIC_PriorityGroup   | NVIC_IRQChannelPreemptionPriority | NVIC_IRQChannelSubPriority  |       Description
  *    ==========================================================================================================================
  *     NVIC_PriorityGroup_0  |                0                  |            0-15             | 0 bits for pre-emption priority
  *                           |                                   |                             | 4 bits for subpriority
  *    --------------------------------------------------------------------------------------------------------------------------
  *     NVIC_PriorityGroup_1  |                0-1                |            0-7              | 1 bits for pre-emption priority
  *                           |                                   |                             | 3 bits for subpriority
  *    --------------------------------------------------------------------------------------------------------------------------    
  *     NVIC_PriorityGroup_2  |                0-3                |            0-3              | 2 bits for pre-emption priority
  *                           |                                   |                             | 2 bits for subpriority
  *    --------------------------------------------------------------------------------------------------------------------------    
  *     NVIC_PriorityGroup_3  |                0-7                |            0-1              | 3 bits for pre-emption priority
  *                           |                                   |                             | 1 bits for subpriority
  *    ------------------------------------------------

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2015-10-15 23:24  MPU6050\
     目录           0  2015-10-15 23:24  MPU6050\CORE\
     文件      109142  2014-07-17 21:52  MPU6050\CORE\core_cm4.h
     文件       22735  2014-07-17 21:52  MPU6050\CORE\core_cm4_simd.h
     文件       17146  2014-07-17 21:52  MPU6050\CORE\core_cmFunc.h
     文件       20513  2014-07-17 21:52  MPU6050\CORE\core_cmInstr.h
     文件       29694  2014-08-02 00:12  MPU6050\CORE\startup_stm32f40xx.s
     文件       29605  2014-08-02 00:12  MPU6050\CORE\startup_stm32f40_41xxx.s
     目录           0  2015-10-15 23:24  MPU6050\FWLIB\
     目录           0  2015-10-15 23:24  MPU6050\FWLIB\inc\
     文件        6923  2015-07-19 16:03  MPU6050\FWLIB\inc\misc.h
     文件       32879  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_adc.h
     文件       27317  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_can.h
     文件       12394  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_cec.h
     文件        2415  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_crc.h
     文件       14480  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_cryp.h
     文件       14945  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_dac.h
     文件        4295  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_dbgmcu.h
     文件       12976  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_dcmi.h
     文件       28881  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_dma.h
     文件       19700  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_dma2d.h
     文件        8011  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_exti.h
     文件       24490  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_flash.h
     文件        3274  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_flash_ramfunc.h
     文件       44923  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_fmc.h
     文件       19169  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_fmpi2c.h
     文件       27180  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_fsmc.h
     文件       25060  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_gpio.h
     文件       10083  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_hash.h
     文件       31936  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_i2c.h
     文件        4322  2015-07-19 16:03  MPU6050\FWLIB\inc\stm32f4xx_iwdg.h
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