\hypertarget{inv__mpu_8h_source}{}\doxysection{inv\+\_\+mpu.\+h}
\label{inv__mpu_8h_source}\index{D:/gitt/MicrochipFor32/bscpp\_Device/bscpp\_MPU6050/inv\_mpu.h@{D:/gitt/MicrochipFor32/bscpp\_Device/bscpp\_MPU6050/inv\_mpu.h}}
\mbox{\hyperlink{inv__mpu_8h}{浏览该文件的文档.}}
\begin{DoxyCode}{0}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00001}00001 \textcolor{comment}{/*}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00002}00002 \textcolor{comment}{ \$License:}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00003}00003 \textcolor{comment}{    Copyright (C) 2011-\/2012 InvenSense Corporation, All Rights Reserved.}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00004}00004 \textcolor{comment}{    See included License.txt for License information.}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00005}00005 \textcolor{comment}{ \$}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00006}00006 \textcolor{comment}{ */}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00021}00021 \textcolor{preprocessor}{\#ifndef \_INV\_MPU\_H\_}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00022}00022 \textcolor{preprocessor}{\#define \_INV\_MPU\_H\_}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00023}00023 \textcolor{preprocessor}{\#include "{}main.h"{}}}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00025}00025 }
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00026}00026 \textcolor{comment}{//定义输出速度}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00027}\mbox{\hyperlink{group___d_r_i_v_e_r_s_ga292d717406e906831952ce46612fe4cd}{00027}} \textcolor{preprocessor}{\#define DEFAULT\_MPU\_HZ  (100)       }\textcolor{comment}{//100Hz}}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00029}\mbox{\hyperlink{group___d_r_i_v_e_r_s_gabf02bf28541421d59f8be764f2b95407}{00029}} \textcolor{preprocessor}{\#define INV\_X\_GYRO      (0x40)}}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00036}00036 \textcolor{comment}{//移植官方MSP430 DMP驱动过来}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00037}\mbox{\hyperlink{structint__param__s}{00037}} \textcolor{keyword}{struct }\mbox{\hyperlink{structint__param__s}{int\_param\_s}} \{}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00038}00038 \textcolor{comment}{//\#if defined EMPL\_TARGET\_MSP430 || defined MOTION\_DRIVER\_TARGET\_MSP430}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00039}\mbox{\hyperlink{group___d_r_i_v_e_r_s_ga97093754f1f13b06492990e3da77965d}{00039}}     void (*\mbox{\hyperlink{group___d_r_i_v_e_r_s_ga97093754f1f13b06492990e3da77965d}{cb}})(void);}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00043}00043 \textcolor{comment}{//\#elif defined EMPL\_TARGET\_UC3L0}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00044}00044 \textcolor{comment}{//    unsigned long pin;}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00045}00045 \textcolor{comment}{//    void (*cb)(volatile void*);}}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00050}\mbox{\hyperlink{group___d_r_i_v_e_r_s_ga0cddf0dffaf3bf65fd3ed92dda4f3193}{00050}} \textcolor{preprocessor}{\#define MPU\_INT\_STATUS\_DATA\_READY       (0x0001)}}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00065}00065 \textcolor{comment}{/* Set up APIs */}}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00122}00122 \textcolor{keywordtype}{int} \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga3374bececb6743893c9eab27645c1182}{mpu\_read\_mem}}(\textcolor{keywordtype}{unsigned} \textcolor{keywordtype}{short} mem\_addr, \textcolor{keywordtype}{unsigned} \textcolor{keywordtype}{short} length,}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00124}00124 \textcolor{keywordtype}{int} \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga8fbdfe1a50285d4ab438e29c2efc70f5}{mpu\_load\_firmware}}(\textcolor{keywordtype}{unsigned} \textcolor{keywordtype}{short} length, \textcolor{keyword}{const} \textcolor{keywordtype}{unsigned} \textcolor{keywordtype}{char} *firmware,}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00125}00125     \textcolor{keywordtype}{unsigned} \textcolor{keywordtype}{short} start\_addr, \textcolor{keywordtype}{unsigned} \textcolor{keywordtype}{short} sample\_rate);}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00126}00126 }
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00127}00127 \textcolor{keywordtype}{int} \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga0e1201ecfd8453f1d89e4299528baaf6}{mpu\_reg\_dump}}(\textcolor{keywordtype}{void});}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00129}00129 \textcolor{keywordtype}{int} \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga3773dc98eb1ba15da0091ae75abcf62f}{mpu\_run\_self\_test}}(\textcolor{keywordtype}{long} *gyro, \textcolor{keywordtype}{long} *accel);}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00131}00131 \textcolor{comment}{//自行添加的一些函数}}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00132}00132 \textcolor{keywordtype}{void} \mbox{\hyperlink{group___d_r_i_v_e_r_s_gafa3071c8321f6e8dd2036be8a1e57ad0}{mget\_ms}}(\textcolor{keywordtype}{unsigned} \textcolor{keywordtype}{long} *time);}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00136}00136 \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{group___d_r_i_v_e_r_s_gafac8fcbf24cfa1b69737e02238580f3a}{mpu\_dmp\_init}}(\textcolor{keywordtype}{void});}
\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00137}00137 \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{group___d_r_i_v_e_r_s_gacb825f2fd99c3044d012a9b25608cc18}{mpu\_dmp\_get\_data}}(\textcolor{keywordtype}{float} *pitch,\textcolor{keywordtype}{float} *roll,\textcolor{keywordtype}{float} *yaw);}
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\DoxyCodeLine{\Hypertarget{inv__mpu_8h_source_l00139}00139 \textcolor{preprocessor}{\#endif  }\textcolor{comment}{/* \#ifndef \_INV\_MPU\_H\_ */}\textcolor{preprocessor}{}}
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