资源简介
基于ARM内核STM32F4开发（环境IAR），或MSP430。
基于InvenSense公司MPL库，使用DMP数字动作处理加速器。
内附完整文档。
使用Python客户端监控可视化图象3D图象，打印MPU6050数据，欧拉角、重力加速度或其他原始数据。
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 EMPL_TARGET_STM32F4
#include “i2c.h“
#include “main.h“
#include “log.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
#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. */
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
文件 21597344 2014-07-18 08:49 motion_driver_6.12\documentation\STM32F4\RM0090——F4参考手册.pdf
文件 21815030 2017-12-19 13:24 motion_driver_6.12\documentation\STM32F4\F429参考手册.pdf
文件 3180804 2017-12-19 13:20 motion_driver_6.12\documentation\STM32F4\F429数据手册.pdf
文件 3481888 2017-12-19 13:46 motion_driver_6.12\documentation\STM32F4\F429编程手册.pdf
目录 0 2018-01-26 17:17 motion_driver_6.12\documentation\STM32F4\
目录 0 2015-05-07 02:06 motion_driver_6.12\
目录 0 2015-05-07 02:06 motion_driver_6.12\arm\
目录 0 2015-05-07 02:06 motion_driver_6.12\arm\STM32F4_MD6\
目录 0 2015-05-07 02:06 motion_driver_6.12\arm\STM32F4_MD6\Projects\
目录 0 2015-05-07 02:06 motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\
目录 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
目录 0 2015-05-07 02:06 motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\
目录 0 2015-05-07 02:06 motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\core\driver\
目录 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
目录 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
目录 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
............此处省略672个文件信息
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