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dmpKey.h

+/*
+ $License:
+    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+ $
+ */
+#ifndef DMPKEY_H__
+#define DMPKEY_H__
+
+#define KEY_CFG_25                  (0)
+#define KEY_CFG_24                  (KEY_CFG_25 + 1)
+#define KEY_CFG_26                  (KEY_CFG_24 + 1)
+#define KEY_CFG_27                  (KEY_CFG_26 + 1)
+#define KEY_CFG_21                  (KEY_CFG_27 + 1)
+#define KEY_CFG_20                  (KEY_CFG_21 + 1)
+#define KEY_CFG_TAP4                (KEY_CFG_20 + 1)
+#define KEY_CFG_TAP5                (KEY_CFG_TAP4 + 1)
+#define KEY_CFG_TAP6                (KEY_CFG_TAP5 + 1)
+#define KEY_CFG_TAP7                (KEY_CFG_TAP6 + 1)
+#define KEY_CFG_TAP0                (KEY_CFG_TAP7 + 1)
+#define KEY_CFG_TAP1                (KEY_CFG_TAP0 + 1)
+#define KEY_CFG_TAP2                (KEY_CFG_TAP1 + 1)
+#define KEY_CFG_TAP3                (KEY_CFG_TAP2 + 1)
+#define KEY_CFG_TAP_QUANTIZE        (KEY_CFG_TAP3 + 1)
+#define KEY_CFG_TAP_JERK            (KEY_CFG_TAP_QUANTIZE + 1)
+#define KEY_CFG_DR_INT              (KEY_CFG_TAP_JERK + 1)
+#define KEY_CFG_AUTH                (KEY_CFG_DR_INT + 1)
+#define KEY_CFG_TAP_SAVE_ACCB       (KEY_CFG_AUTH + 1)
+#define KEY_CFG_TAP_CLEAR_STICKY    (KEY_CFG_TAP_SAVE_ACCB + 1)
+#define KEY_CFG_FIFO_ON_EVENT       (KEY_CFG_TAP_CLEAR_STICKY + 1)
+#define KEY_FCFG_ACCEL_INPUT        (KEY_CFG_FIFO_ON_EVENT + 1)
+#define KEY_FCFG_ACCEL_INIT         (KEY_FCFG_ACCEL_INPUT + 1)
+#define KEY_CFG_23                  (KEY_FCFG_ACCEL_INIT + 1)
+#define KEY_FCFG_1                  (KEY_CFG_23 + 1)
+#define KEY_FCFG_3                  (KEY_FCFG_1 + 1)
+#define KEY_FCFG_2                  (KEY_FCFG_3 + 1)
+#define KEY_CFG_3D                  (KEY_FCFG_2 + 1)
+#define KEY_CFG_3B                  (KEY_CFG_3D + 1)
+#define KEY_CFG_3C                  (KEY_CFG_3B + 1)
+#define KEY_FCFG_5                  (KEY_CFG_3C + 1)
+#define KEY_FCFG_4                  (KEY_FCFG_5 + 1)
+#define KEY_FCFG_7                  (KEY_FCFG_4 + 1)
+#define KEY_FCFG_FSCALE             (KEY_FCFG_7 + 1)
+#define KEY_FCFG_AZ                 (KEY_FCFG_FSCALE + 1)
+#define KEY_FCFG_6                  (KEY_FCFG_AZ + 1)
+#define KEY_FCFG_LSB4               (KEY_FCFG_6 + 1)
+#define KEY_CFG_12                  (KEY_FCFG_LSB4 + 1)
+#define KEY_CFG_14                  (KEY_CFG_12 + 1)
+#define KEY_CFG_15                  (KEY_CFG_14 + 1)
+#define KEY_CFG_16                  (KEY_CFG_15 + 1)
+#define KEY_CFG_18                  (KEY_CFG_16 + 1)
+#define KEY_CFG_6                   (KEY_CFG_18 + 1)
+#define KEY_CFG_7                   (KEY_CFG_6 + 1)
+#define KEY_CFG_4                   (KEY_CFG_7 + 1)
+#define KEY_CFG_5                   (KEY_CFG_4 + 1)
+#define KEY_CFG_2                   (KEY_CFG_5 + 1)
+#define KEY_CFG_3                   (KEY_CFG_2 + 1)
+#define KEY_CFG_1                   (KEY_CFG_3 + 1)
+#define KEY_CFG_EXTERNAL            (KEY_CFG_1 + 1)
+#define KEY_CFG_8                   (KEY_CFG_EXTERNAL + 1)
+#define KEY_CFG_9                   (KEY_CFG_8 + 1)
+#define KEY_CFG_ORIENT_3            (KEY_CFG_9 + 1)
+#define KEY_CFG_ORIENT_2            (KEY_CFG_ORIENT_3 + 1)
+#define KEY_CFG_ORIENT_1            (KEY_CFG_ORIENT_2 + 1)
+#define KEY_CFG_GYRO_SOURCE         (KEY_CFG_ORIENT_1 + 1)
+#define KEY_CFG_ORIENT_IRQ_1        (KEY_CFG_GYRO_SOURCE + 1)
+#define KEY_CFG_ORIENT_IRQ_2        (KEY_CFG_ORIENT_IRQ_1 + 1)
+#define KEY_CFG_ORIENT_IRQ_3        (KEY_CFG_ORIENT_IRQ_2 + 1)
+#define KEY_FCFG_MAG_VAL            (KEY_CFG_ORIENT_IRQ_3 + 1)
+#define KEY_FCFG_MAG_MOV            (KEY_FCFG_MAG_VAL + 1)
+#define KEY_CFG_LP_QUAT             (KEY_FCFG_MAG_MOV + 1)
+
+/* MPU6050 keys */
+#define KEY_CFG_ACCEL_FILTER        (KEY_CFG_LP_QUAT + 1)
+#define KEY_CFG_MOTION_BIAS         (KEY_CFG_ACCEL_FILTER + 1)
+#define KEY_TEMPLABEL               (KEY_CFG_MOTION_BIAS + 1)
+
+#define KEY_D_0_22                  (KEY_TEMPLABEL + 1)
+#define KEY_D_0_24                  (KEY_D_0_22 + 1)
+#define KEY_D_0_36                  (KEY_D_0_24 + 1)
+#define KEY_D_0_52                  (KEY_D_0_36 + 1)
+#define KEY_D_0_96                  (KEY_D_0_52 + 1)
+#define KEY_D_0_104                 (KEY_D_0_96 + 1)
+#define KEY_D_0_108                 (KEY_D_0_104 + 1)
+#define KEY_D_0_163                 (KEY_D_0_108 + 1)
+#define KEY_D_0_188                 (KEY_D_0_163 + 1)
+#define KEY_D_0_192                 (KEY_D_0_188 + 1)
+#define KEY_D_0_224                 (KEY_D_0_192 + 1)
+#define KEY_D_0_228                 (KEY_D_0_224 + 1)
+#define KEY_D_0_232                 (KEY_D_0_228 + 1)
+#define KEY_D_0_236                 (KEY_D_0_232 + 1)
+
+#define KEY_DMP_PREVPTAT            (KEY_D_0_236 + 1)
+#define KEY_D_1_2                   (KEY_DMP_PREVPTAT + 1)
+#define KEY_D_1_4                   (KEY_D_1_2 + 1)
+#define KEY_D_1_8                   (KEY_D_1_4 + 1)
+#define KEY_D_1_10                  (KEY_D_1_8 + 1)
+#define KEY_D_1_24                  (KEY_D_1_10 + 1)
+#define KEY_D_1_28                  (KEY_D_1_24 + 1)
+#define KEY_D_1_36                  (KEY_D_1_28 + 1)
+#define KEY_D_1_40                  (KEY_D_1_36 + 1)
+#define KEY_D_1_44                  (KEY_D_1_40 + 1)
+#define KEY_D_1_72                  (KEY_D_1_44 + 1)
+#define KEY_D_1_74                  (KEY_D_1_72 + 1)
+#define KEY_D_1_79                  (KEY_D_1_74 + 1)
+#define KEY_D_1_88                  (KEY_D_1_79 + 1)
+#define KEY_D_1_90                  (KEY_D_1_88 + 1)
+#define KEY_D_1_92                  (KEY_D_1_90 + 1)
+#define KEY_D_1_96                  (KEY_D_1_92 + 1)
+#define KEY_D_1_98                  (KEY_D_1_96 + 1)
+#define KEY_D_1_100                 (KEY_D_1_98 + 1)
+#define KEY_D_1_106                 (KEY_D_1_100 + 1)
+#define KEY_D_1_108                 (KEY_D_1_106 + 1)
+#define KEY_D_1_112                 (KEY_D_1_108 + 1)
+#define KEY_D_1_128                 (KEY_D_1_112 + 1)
+#define KEY_D_1_152                 (KEY_D_1_128 + 1)
+#define KEY_D_1_160                 (KEY_D_1_152 + 1)
+#define KEY_D_1_168                 (KEY_D_1_160 + 1)
+#define KEY_D_1_175                 (KEY_D_1_168 + 1)
+#define KEY_D_1_176                 (KEY_D_1_175 + 1)
+#define KEY_D_1_178                 (KEY_D_1_176 + 1)
+#define KEY_D_1_179                 (KEY_D_1_178 + 1)
+#define KEY_D_1_218                 (KEY_D_1_179 + 1)
+#define KEY_D_1_232                 (KEY_D_1_218 + 1)
+#define KEY_D_1_236                 (KEY_D_1_232 + 1)
+#define KEY_D_1_240                 (KEY_D_1_236 + 1)
+#define KEY_D_1_244                 (KEY_D_1_240 + 1)
+#define KEY_D_1_250                 (KEY_D_1_244 + 1)
+#define KEY_D_1_252                 (KEY_D_1_250 + 1)
+#define KEY_D_2_12                  (KEY_D_1_252 + 1)
+#define KEY_D_2_96                  (KEY_D_2_12 + 1)
+#define KEY_D_2_108                 (KEY_D_2_96 + 1)
+#define KEY_D_2_208                 (KEY_D_2_108 + 1)
+#define KEY_FLICK_MSG               (KEY_D_2_208 + 1)
+#define KEY_FLICK_COUNTER           (KEY_FLICK_MSG + 1)
+#define KEY_FLICK_LOWER             (KEY_FLICK_COUNTER + 1)
+#define KEY_CFG_FLICK_IN            (KEY_FLICK_LOWER + 1)
+#define KEY_FLICK_UPPER             (KEY_CFG_FLICK_IN + 1)
+#define KEY_CGNOTICE_INTR           (KEY_FLICK_UPPER + 1)
+#define KEY_D_2_224                 (KEY_CGNOTICE_INTR + 1)
+#define KEY_D_2_244                 (KEY_D_2_224 + 1)
+#define KEY_D_2_248                 (KEY_D_2_244 + 1)
+#define KEY_D_2_252                 (KEY_D_2_248 + 1)
+
+#define KEY_D_GYRO_BIAS_X               (KEY_D_2_252 + 1)
+#define KEY_D_GYRO_BIAS_Y               (KEY_D_GYRO_BIAS_X + 1)
+#define KEY_D_GYRO_BIAS_Z               (KEY_D_GYRO_BIAS_Y + 1)
+#define KEY_D_ACC_BIAS_X                (KEY_D_GYRO_BIAS_Z + 1)
+#define KEY_D_ACC_BIAS_Y                (KEY_D_ACC_BIAS_X + 1)
+#define KEY_D_ACC_BIAS_Z                (KEY_D_ACC_BIAS_Y + 1)
+#define KEY_D_GYRO_ENABLE               (KEY_D_ACC_BIAS_Z + 1)
+#define KEY_D_ACCEL_ENABLE              (KEY_D_GYRO_ENABLE + 1)
+#define KEY_D_QUAT_ENABLE               (KEY_D_ACCEL_ENABLE +1)
+#define KEY_D_OUTPUT_ENABLE             (KEY_D_QUAT_ENABLE + 1)
+#define KEY_D_CR_TIME_G                 (KEY_D_OUTPUT_ENABLE + 1)
+#define KEY_D_CR_TIME_A                 (KEY_D_CR_TIME_G + 1)
+#define KEY_D_CR_TIME_Q                 (KEY_D_CR_TIME_A + 1)
+#define KEY_D_CS_TAX                    (KEY_D_CR_TIME_Q + 1)
+#define KEY_D_CS_TAY                    (KEY_D_CS_TAX + 1)
+#define KEY_D_CS_TAZ                    (KEY_D_CS_TAY + 1)
+#define KEY_D_CS_TGX                    (KEY_D_CS_TAZ + 1)
+#define KEY_D_CS_TGY                    (KEY_D_CS_TGX + 1)
+#define KEY_D_CS_TGZ                    (KEY_D_CS_TGY + 1)
+#define KEY_D_CS_TQ0                    (KEY_D_CS_TGZ + 1)
+#define KEY_D_CS_TQ1                    (KEY_D_CS_TQ0 + 1)
+#define KEY_D_CS_TQ2                    (KEY_D_CS_TQ1 + 1)
+#define KEY_D_CS_TQ3                    (KEY_D_CS_TQ2 + 1)
+
+/* Compass keys */
+#define KEY_CPASS_BIAS_X            (KEY_D_CS_TQ3 + 1)
+#define KEY_CPASS_BIAS_Y            (KEY_CPASS_BIAS_X + 1)
+#define KEY_CPASS_BIAS_Z            (KEY_CPASS_BIAS_Y + 1)
+#define KEY_CPASS_MTX_00            (KEY_CPASS_BIAS_Z + 1)
+#define KEY_CPASS_MTX_01            (KEY_CPASS_MTX_00 + 1)
+#define KEY_CPASS_MTX_02            (KEY_CPASS_MTX_01 + 1)
+#define KEY_CPASS_MTX_10            (KEY_CPASS_MTX_02 + 1)
+#define KEY_CPASS_MTX_11            (KEY_CPASS_MTX_10 + 1)
+#define KEY_CPASS_MTX_12            (KEY_CPASS_MTX_11 + 1)
+#define KEY_CPASS_MTX_20            (KEY_CPASS_MTX_12 + 1)
+#define KEY_CPASS_MTX_21            (KEY_CPASS_MTX_20 + 1)
+#define KEY_CPASS_MTX_22            (KEY_CPASS_MTX_21 + 1)
+
+/* Gesture Keys */
+#define KEY_DMP_TAPW_MIN            (KEY_CPASS_MTX_22 + 1)
+#define KEY_DMP_TAP_THR_X           (KEY_DMP_TAPW_MIN + 1)
+#define KEY_DMP_TAP_THR_Y           (KEY_DMP_TAP_THR_X + 1)
+#define KEY_DMP_TAP_THR_Z           (KEY_DMP_TAP_THR_Y + 1)
+#define KEY_DMP_SH_TH_Y             (KEY_DMP_TAP_THR_Z + 1)
+#define KEY_DMP_SH_TH_X             (KEY_DMP_SH_TH_Y + 1)
+#define KEY_DMP_SH_TH_Z             (KEY_DMP_SH_TH_X + 1)
+#define KEY_DMP_ORIENT              (KEY_DMP_SH_TH_Z + 1)
+#define KEY_D_ACT0                  (KEY_DMP_ORIENT + 1)
+#define KEY_D_ACSX                  (KEY_D_ACT0 + 1)
+#define KEY_D_ACSY                  (KEY_D_ACSX + 1)
+#define KEY_D_ACSZ                  (KEY_D_ACSY + 1)
+
+#define KEY_X_GRT_Y_TMP             (KEY_D_ACSZ + 1)
+#define KEY_SKIP_X_GRT_Y_TMP        (KEY_X_GRT_Y_TMP + 1)
+#define KEY_SKIP_END_COMPARE        (KEY_SKIP_X_GRT_Y_TMP + 1)
+#define KEY_END_COMPARE_Y_X_TMP2    (KEY_SKIP_END_COMPARE + 1)       
+#define KEY_CFG_ANDROID_ORIENT_INT  (KEY_END_COMPARE_Y_X_TMP2 + 1)
+#define KEY_NO_ORIENT_INTERRUPT     (KEY_CFG_ANDROID_ORIENT_INT + 1)
+#define KEY_END_COMPARE_Y_X_TMP     (KEY_NO_ORIENT_INTERRUPT + 1)
+#define KEY_END_ORIENT_1            (KEY_END_COMPARE_Y_X_TMP + 1)
+#define KEY_END_COMPARE_Y_X         (KEY_END_ORIENT_1 + 1) 
+#define KEY_END_ORIENT              (KEY_END_COMPARE_Y_X + 1)
+#define KEY_X_GRT_Y                 (KEY_END_ORIENT + 1)
+#define KEY_NOT_TIME_MINUS_1        (KEY_X_GRT_Y + 1)       
+#define KEY_END_COMPARE_Y_X_TMP3    (KEY_NOT_TIME_MINUS_1 + 1) 
+#define KEY_X_GRT_Y_TMP2            (KEY_END_COMPARE_Y_X_TMP3 + 1)
+
+/* Authenticate Keys */
+#define KEY_D_AUTH_OUT              (KEY_X_GRT_Y_TMP2 + 1)
+#define KEY_D_AUTH_IN               (KEY_D_AUTH_OUT + 1)
+#define KEY_D_AUTH_A                (KEY_D_AUTH_IN + 1)
+#define KEY_D_AUTH_B                (KEY_D_AUTH_A + 1)
+
+/* Pedometer standalone only keys */
+#define KEY_D_PEDSTD_BP_B           (KEY_D_AUTH_B + 1)
+#define KEY_D_PEDSTD_HP_A           (KEY_D_PEDSTD_BP_B + 1)
+#define KEY_D_PEDSTD_HP_B           (KEY_D_PEDSTD_HP_A + 1)
+#define KEY_D_PEDSTD_BP_A4          (KEY_D_PEDSTD_HP_B + 1)
+#define KEY_D_PEDSTD_BP_A3          (KEY_D_PEDSTD_BP_A4 + 1)
+#define KEY_D_PEDSTD_BP_A2          (KEY_D_PEDSTD_BP_A3 + 1)
+#define KEY_D_PEDSTD_BP_A1          (KEY_D_PEDSTD_BP_A2 + 1)
+#define KEY_D_PEDSTD_INT_THRSH      (KEY_D_PEDSTD_BP_A1 + 1)
+#define KEY_D_PEDSTD_CLIP           (KEY_D_PEDSTD_INT_THRSH + 1)
+#define KEY_D_PEDSTD_SB             (KEY_D_PEDSTD_CLIP + 1)
+#define KEY_D_PEDSTD_SB_TIME        (KEY_D_PEDSTD_SB + 1)
+#define KEY_D_PEDSTD_PEAKTHRSH      (KEY_D_PEDSTD_SB_TIME + 1)
+#define KEY_D_PEDSTD_TIML           (KEY_D_PEDSTD_PEAKTHRSH + 1)
+#define KEY_D_PEDSTD_TIMH           (KEY_D_PEDSTD_TIML + 1)
+#define KEY_D_PEDSTD_PEAK           (KEY_D_PEDSTD_TIMH + 1)
+#define KEY_D_PEDSTD_TIMECTR        (KEY_D_PEDSTD_PEAK + 1)
+#define KEY_D_PEDSTD_STEPCTR        (KEY_D_PEDSTD_TIMECTR + 1)
+#define KEY_D_PEDSTD_WALKTIME       (KEY_D_PEDSTD_STEPCTR + 1)
+#define KEY_D_PEDSTD_DECI           (KEY_D_PEDSTD_WALKTIME + 1)
+
+/*Host Based No Motion*/
+#define KEY_D_HOST_NO_MOT           (KEY_D_PEDSTD_DECI + 1)
+
+/* EIS keys */
+#define KEY_P_EIS_FIFO_FOOTER       (KEY_D_HOST_NO_MOT + 1)
+#define KEY_P_EIS_FIFO_YSHIFT       (KEY_P_EIS_FIFO_FOOTER + 1)
+#define KEY_P_EIS_DATA_RATE         (KEY_P_EIS_FIFO_YSHIFT + 1)
+#define KEY_P_EIS_FIFO_XSHIFT       (KEY_P_EIS_DATA_RATE + 1)
+#define KEY_P_EIS_FIFO_SYNC         (KEY_P_EIS_FIFO_XSHIFT + 1)
+#define KEY_P_EIS_FIFO_ZSHIFT       (KEY_P_EIS_FIFO_SYNC + 1)
+#define KEY_P_EIS_FIFO_READY        (KEY_P_EIS_FIFO_ZSHIFT + 1)
+#define KEY_DMP_FOOTER              (KEY_P_EIS_FIFO_READY + 1)
+#define KEY_DMP_INTX_HC             (KEY_DMP_FOOTER + 1)
+#define KEY_DMP_INTX_PH             (KEY_DMP_INTX_HC + 1)
+#define KEY_DMP_INTX_SH             (KEY_DMP_INTX_PH + 1)
+#define KEY_DMP_AINV_SH             (KEY_DMP_INTX_SH + 1)
+#define KEY_DMP_A_INV_XH            (KEY_DMP_AINV_SH + 1)
+#define KEY_DMP_AINV_PH             (KEY_DMP_A_INV_XH + 1)
+#define KEY_DMP_CTHX_H              (KEY_DMP_AINV_PH + 1)
+#define KEY_DMP_CTHY_H              (KEY_DMP_CTHX_H + 1)
+#define KEY_DMP_CTHZ_H              (KEY_DMP_CTHY_H + 1)
+#define KEY_DMP_NCTHX_H             (KEY_DMP_CTHZ_H + 1)
+#define KEY_DMP_NCTHY_H             (KEY_DMP_NCTHX_H + 1)
+#define KEY_DMP_NCTHZ_H             (KEY_DMP_NCTHY_H + 1)
+#define KEY_DMP_CTSQ_XH             (KEY_DMP_NCTHZ_H + 1)
+#define KEY_DMP_CTSQ_YH             (KEY_DMP_CTSQ_XH + 1)
+#define KEY_DMP_CTSQ_ZH             (KEY_DMP_CTSQ_YH + 1)
+#define KEY_DMP_INTX_H              (KEY_DMP_CTSQ_ZH + 1)
+#define KEY_DMP_INTY_H              (KEY_DMP_INTX_H + 1)
+#define KEY_DMP_INTZ_H              (KEY_DMP_INTY_H + 1)
+//#define KEY_DMP_HPX_H               (KEY_DMP_INTZ_H + 1)
+//#define KEY_DMP_HPY_H               (KEY_DMP_HPX_H + 1)
+//#define KEY_DMP_HPZ_H               (KEY_DMP_HPY_H + 1)
+
+/* Stream keys */
+#define KEY_STREAM_P_GYRO_Z         (KEY_DMP_INTZ_H + 1)
+#define KEY_STREAM_P_GYRO_Y         (KEY_STREAM_P_GYRO_Z + 1)
+#define KEY_STREAM_P_GYRO_X         (KEY_STREAM_P_GYRO_Y + 1)
+#define KEY_STREAM_P_TEMP           (KEY_STREAM_P_GYRO_X + 1)
+#define KEY_STREAM_P_AUX_Y          (KEY_STREAM_P_TEMP + 1)
+#define KEY_STREAM_P_AUX_X          (KEY_STREAM_P_AUX_Y + 1)
+#define KEY_STREAM_P_AUX_Z          (KEY_STREAM_P_AUX_X + 1)
+#define KEY_STREAM_P_ACCEL_Y        (KEY_STREAM_P_AUX_Z + 1)
+#define KEY_STREAM_P_ACCEL_X        (KEY_STREAM_P_ACCEL_Y + 1)
+#define KEY_STREAM_P_FOOTER         (KEY_STREAM_P_ACCEL_X + 1)
+#define KEY_STREAM_P_ACCEL_Z        (KEY_STREAM_P_FOOTER + 1)
+
+#define NUM_KEYS                    (KEY_STREAM_P_ACCEL_Z + 1)
+
+typedef struct {
+    unsigned short key;
+    unsigned short addr;
+} tKeyLabel;
+
+#define DINA0A 0x0a
+#define DINA22 0x22
+#define DINA42 0x42
+#define DINA5A 0x5a
+
+#define DINA06 0x06
+#define DINA0E 0x0e
+#define DINA16 0x16
+#define DINA1E 0x1e
+#define DINA26 0x26
+#define DINA2E 0x2e
+#define DINA36 0x36
+#define DINA3E 0x3e
+#define DINA46 0x46
+#define DINA4E 0x4e
+#define DINA56 0x56
+#define DINA5E 0x5e
+#define DINA66 0x66
+#define DINA6E 0x6e
+#define DINA76 0x76
+#define DINA7E 0x7e
+
+#define DINA00 0x00
+#define DINA08 0x08
+#define DINA10 0x10
+#define DINA18 0x18
+#define DINA20 0x20
+#define DINA28 0x28
+#define DINA30 0x30
+#define DINA38 0x38
+#define DINA40 0x40
+#define DINA48 0x48
+#define DINA50 0x50
+#define DINA58 0x58
+#define DINA60 0x60
+#define DINA68 0x68
+#define DINA70 0x70
+#define DINA78 0x78
+
+#define DINA04 0x04
+#define DINA0C 0x0c
+#define DINA14 0x14
+#define DINA1C 0x1C
+#define DINA24 0x24
+#define DINA2C 0x2c
+#define DINA34 0x34
+#define DINA3C 0x3c
+#define DINA44 0x44
+#define DINA4C 0x4c
+#define DINA54 0x54
+#define DINA5C 0x5c
+#define DINA64 0x64
+#define DINA6C 0x6c
+#define DINA74 0x74
+#define DINA7C 0x7c
+
+#define DINA01 0x01
+#define DINA09 0x09
+#define DINA11 0x11
+#define DINA19 0x19
+#define DINA21 0x21
+#define DINA29 0x29
+#define DINA31 0x31
+#define DINA39 0x39
+#define DINA41 0x41
+#define DINA49 0x49
+#define DINA51 0x51
+#define DINA59 0x59
+#define DINA61 0x61
+#define DINA69 0x69
+#define DINA71 0x71
+#define DINA79 0x79
+
+#define DINA25 0x25
+#define DINA2D 0x2d
+#define DINA35 0x35
+#define DINA3D 0x3d
+#define DINA4D 0x4d
+#define DINA55 0x55
+#define DINA5D 0x5D
+#define DINA6D 0x6d
+#define DINA75 0x75
+#define DINA7D 0x7d
+
+#define DINADC 0xdc
+#define DINAF2 0xf2
+#define DINAAB 0xab
+#define DINAAA 0xaa
+#define DINAF1 0xf1
+#define DINADF 0xdf
+#define DINADA 0xda
+#define DINAB1 0xb1
+#define DINAB9 0xb9
+#define DINAF3 0xf3
+#define DINA8B 0x8b
+#define DINAA3 0xa3
+#define DINA91 0x91
+#define DINAB6 0xb6
+#define DINAB4 0xb4
+
+
+#define DINC00 0x00
+#define DINC01 0x01
+#define DINC02 0x02
+#define DINC03 0x03
+#define DINC08 0x08
+#define DINC09 0x09
+#define DINC0A 0x0a
+#define DINC0B 0x0b
+#define DINC10 0x10
+#define DINC11 0x11
+#define DINC12 0x12
+#define DINC13 0x13
+#define DINC18 0x18
+#define DINC19 0x19
+#define DINC1A 0x1a
+#define DINC1B 0x1b
+
+#define DINC20 0x20
+#define DINC21 0x21
+#define DINC22 0x22
+#define DINC23 0x23
+#define DINC28 0x28
+#define DINC29 0x29
+#define DINC2A 0x2a
+#define DINC2B 0x2b
+#define DINC30 0x30
+#define DINC31 0x31
+#define DINC32 0x32
+#define DINC33 0x33
+#define DINC38 0x38
+#define DINC39 0x39
+#define DINC3A 0x3a
+#define DINC3B 0x3b
+
+#define DINC40 0x40
+#define DINC41 0x41
+#define DINC42 0x42
+#define DINC43 0x43
+#define DINC48 0x48
+#define DINC49 0x49
+#define DINC4A 0x4a
+#define DINC4B 0x4b
+#define DINC50 0x50
+#define DINC51 0x51
+#define DINC52 0x52
+#define DINC53 0x53
+#define DINC58 0x58
+#define DINC59 0x59
+#define DINC5A 0x5a
+#define DINC5B 0x5b
+
+#define DINC60 0x60
+#define DINC61 0x61
+#define DINC62 0x62
+#define DINC63 0x63
+#define DINC68 0x68
+#define DINC69 0x69
+#define DINC6A 0x6a
+#define DINC6B 0x6b
+#define DINC70 0x70
+#define DINC71 0x71
+#define DINC72 0x72
+#define DINC73 0x73
+#define DINC78 0x78
+#define DINC79 0x79
+#define DINC7A 0x7a
+#define DINC7B 0x7b
+
+#define DIND40 0x40
+
+
+#define DINA80 0x80
+#define DINA90 0x90
+#define DINAA0 0xa0
+#define DINAC9 0xc9
+#define DINACB 0xcb
+#define DINACD 0xcd
+#define DINACF 0xcf
+#define DINAC8 0xc8
+#define DINACA 0xca
+#define DINACC 0xcc
+#define DINACE 0xce
+#define DINAD8 0xd8
+#define DINADD 0xdd
+#define DINAF8 0xf0
+#define DINAFE 0xfe
+
+#define DINBF8 0xf8
+#define DINAC0 0xb0
+#define DINAC1 0xb1
+#define DINAC2 0xb4
+#define DINAC3 0xb5
+#define DINAC4 0xb8
+#define DINAC5 0xb9
+#define DINBC0 0xc0
+#define DINBC2 0xc2
+#define DINBC4 0xc4
+#define DINBC6 0xc6
+
+
+
+#endif // DMPKEY_H__

dmpmap.h

+/*
+ $License:
+    Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
+ $
+ */
+#ifndef DMPMAP_H
+#define DMPMAP_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define DMP_PTAT    0
+#define DMP_XGYR    2
+#define DMP_YGYR    4
+#define DMP_ZGYR    6
+#define DMP_XACC    8
+#define DMP_YACC    10
+#define DMP_ZACC    12
+#define DMP_ADC1    14
+#define DMP_ADC2    16
+#define DMP_ADC3    18
+#define DMP_BIASUNC    20
+#define DMP_FIFORT    22
+#define DMP_INVGSFH    24
+#define DMP_INVGSFL    26
+#define DMP_1H    28
+#define DMP_1L    30
+#define DMP_BLPFSTCH    32
+#define DMP_BLPFSTCL    34
+#define DMP_BLPFSXH    36
+#define DMP_BLPFSXL    38
+#define DMP_BLPFSYH    40
+#define DMP_BLPFSYL    42
+#define DMP_BLPFSZH    44
+#define DMP_BLPFSZL    46
+#define DMP_BLPFMTC    48
+#define DMP_SMC    50
+#define DMP_BLPFMXH    52
+#define DMP_BLPFMXL    54
+#define DMP_BLPFMYH    56
+#define DMP_BLPFMYL    58
+#define DMP_BLPFMZH    60
+#define DMP_BLPFMZL    62
+#define DMP_BLPFC    64
+#define DMP_SMCTH    66
+#define DMP_0H2    68
+#define DMP_0L2    70
+#define DMP_BERR2H    72
+#define DMP_BERR2L    74
+#define DMP_BERR2NH    76
+#define DMP_SMCINC    78
+#define DMP_ANGVBXH    80
+#define DMP_ANGVBXL    82
+#define DMP_ANGVBYH    84
+#define DMP_ANGVBYL    86
+#define DMP_ANGVBZH    88
+#define DMP_ANGVBZL    90
+#define DMP_BERR1H    92
+#define DMP_BERR1L    94
+#define DMP_ATCH    96
+#define DMP_BIASUNCSF    98
+#define DMP_ACT2H    100
+#define DMP_ACT2L    102
+#define DMP_GSFH    104
+#define DMP_GSFL    106
+#define DMP_GH    108
+#define DMP_GL    110
+#define DMP_0_5H    112
+#define DMP_0_5L    114
+#define DMP_0_0H    116
+#define DMP_0_0L    118
+#define DMP_1_0H    120
+#define DMP_1_0L    122
+#define DMP_1_5H    124
+#define DMP_1_5L    126
+#define DMP_TMP1AH    128
+#define DMP_TMP1AL    130
+#define DMP_TMP2AH    132
+#define DMP_TMP2AL    134
+#define DMP_TMP3AH    136
+#define DMP_TMP3AL    138
+#define DMP_TMP4AH    140
+#define DMP_TMP4AL    142
+#define DMP_XACCW    144
+#define DMP_TMP5    146
+#define DMP_XACCB    148
+#define DMP_TMP8    150
+#define DMP_YACCB    152
+#define DMP_TMP9    154
+#define DMP_ZACCB    156
+#define DMP_TMP10    158
+#define DMP_DZH    160
+#define DMP_DZL    162
+#define DMP_XGCH    164
+#define DMP_XGCL    166
+#define DMP_YGCH    168
+#define DMP_YGCL    170
+#define DMP_ZGCH    172
+#define DMP_ZGCL    174
+#define DMP_YACCW    176
+#define DMP_TMP7    178
+#define DMP_AFB1H    180
+#define DMP_AFB1L    182
+#define DMP_AFB2H    184
+#define DMP_AFB2L    186
+#define DMP_MAGFBH    188
+#define DMP_MAGFBL    190
+#define DMP_QT1H    192
+#define DMP_QT1L    194
+#define DMP_QT2H    196
+#define DMP_QT2L    198
+#define DMP_QT3H    200
+#define DMP_QT3L    202
+#define DMP_QT4H    204
+#define DMP_QT4L    206
+#define DMP_CTRL1H    208
+#define DMP_CTRL1L    210
+#define DMP_CTRL2H    212
+#define DMP_CTRL2L    214
+#define DMP_CTRL3H    216
+#define DMP_CTRL3L    218
+#define DMP_CTRL4H    220
+#define DMP_CTRL4L    222
+#define DMP_CTRLS1    224
+#define DMP_CTRLSF1    226
+#define DMP_CTRLS2    228
+#define DMP_CTRLSF2    230
+#define DMP_CTRLS3    232
+#define DMP_CTRLSFNLL    234
+#define DMP_CTRLS4    236
+#define DMP_CTRLSFNL2    238
+#define DMP_CTRLSFNL    240
+#define DMP_TMP30    242
+#define DMP_CTRLSFJT    244
+#define DMP_TMP31    246
+#define DMP_TMP11    248
+#define DMP_CTRLSF2_2    250
+#define DMP_TMP12    252
+#define DMP_CTRLSF1_2    254
+#define DMP_PREVPTAT    256
+#define DMP_ACCZB    258
+#define DMP_ACCXB    264
+#define DMP_ACCYB    266
+#define DMP_1HB    272
+#define DMP_1LB    274
+#define DMP_0H    276
+#define DMP_0L    278
+#define DMP_ASR22H    280
+#define DMP_ASR22L    282
+#define DMP_ASR6H    284
+#define DMP_ASR6L    286
+#define DMP_TMP13    288
+#define DMP_TMP14    290
+#define DMP_FINTXH    292
+#define DMP_FINTXL    294
+#define DMP_FINTYH    296
+#define DMP_FINTYL    298
+#define DMP_FINTZH    300
+#define DMP_FINTZL    302
+#define DMP_TMP1BH    304
+#define DMP_TMP1BL    306
+#define DMP_TMP2BH    308
+#define DMP_TMP2BL    310
+#define DMP_TMP3BH    312
+#define DMP_TMP3BL    314
+#define DMP_TMP4BH    316
+#define DMP_TMP4BL    318
+#define DMP_STXG    320
+#define DMP_ZCTXG    322
+#define DMP_STYG    324
+#define DMP_ZCTYG    326
+#define DMP_STZG    328
+#define DMP_ZCTZG    330
+#define DMP_CTRLSFJT2    332
+#define DMP_CTRLSFJTCNT    334
+#define DMP_PVXG    336
+#define DMP_TMP15    338
+#define DMP_PVYG    340
+#define DMP_TMP16    342
+#define DMP_PVZG    344
+#define DMP_TMP17    346
+#define DMP_MNMFLAGH    352
+#define DMP_MNMFLAGL    354
+#define DMP_MNMTMH    356
+#define DMP_MNMTML    358
+#define DMP_MNMTMTHRH    360
+#define DMP_MNMTMTHRL    362
+#define DMP_MNMTHRH    364
+#define DMP_MNMTHRL    366
+#define DMP_ACCQD4H    368
+#define DMP_ACCQD4L    370
+#define DMP_ACCQD5H    372
+#define DMP_ACCQD5L    374
+#define DMP_ACCQD6H    376
+#define DMP_ACCQD6L    378
+#define DMP_ACCQD7H    380
+#define DMP_ACCQD7L    382
+#define DMP_ACCQD0H    384
+#define DMP_ACCQD0L    386
+#define DMP_ACCQD1H    388
+#define DMP_ACCQD1L    390
+#define DMP_ACCQD2H    392
+#define DMP_ACCQD2L    394
+#define DMP_ACCQD3H    396
+#define DMP_ACCQD3L    398
+#define DMP_XN2H    400
+#define DMP_XN2L    402
+#define DMP_XN1H    404
+#define DMP_XN1L    406
+#define DMP_YN2H    408
+#define DMP_YN2L    410
+#define DMP_YN1H    412
+#define DMP_YN1L    414
+#define DMP_YH    416
+#define DMP_YL    418
+#define DMP_B0H    420
+#define DMP_B0L    422
+#define DMP_A1H    424
+#define DMP_A1L    426
+#define DMP_A2H    428
+#define DMP_A2L    430
+#define DMP_SEM1    432
+#define DMP_FIFOCNT    434
+#define DMP_SH_TH_X    436
+#define DMP_PACKET    438
+#define DMP_SH_TH_Y    440
+#define DMP_FOOTER    442
+#define DMP_SH_TH_Z    444
+#define DMP_TEMP29    448
+#define DMP_TEMP30    450
+#define DMP_XACCB_PRE    452
+#define DMP_XACCB_PREL    454
+#define DMP_YACCB_PRE    456
+#define DMP_YACCB_PREL    458
+#define DMP_ZACCB_PRE    460
+#define DMP_ZACCB_PREL    462
+#define DMP_TMP22    464
+#define DMP_TAP_TIMER    466
+#define DMP_TAP_THX    468
+#define DMP_TAP_THY    472
+#define DMP_TAP_THZ    476
+#define DMP_TAPW_MIN    478
+#define DMP_TMP25    480
+#define DMP_TMP26    482
+#define DMP_TMP27    484
+#define DMP_TMP28    486
+#define DMP_ORIENT    488
+#define DMP_THRSH    490
+#define DMP_ENDIANH    492
+#define DMP_ENDIANL    494
+#define DMP_BLPFNMTCH    496
+#define DMP_BLPFNMTCL    498
+#define DMP_BLPFNMXH    500
+#define DMP_BLPFNMXL    502
+#define DMP_BLPFNMYH    504
+#define DMP_BLPFNMYL    506
+#define DMP_BLPFNMZH    508
+#define DMP_BLPFNMZL    510
+#ifdef __cplusplus
+}
+#endif
+#endif // DMPMAP_H

inv_mpu.h

+/*
+ $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.h
+ *      @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)
+ */
+
+#ifndef _INV_MPU_H_
+#define _INV_MPU_H_
+#include "stm32f1xx_hal.h"
+
+
+//定义输出速度
+#define DEFAULT_MPU_HZ  (100)		//100Hz
+
+#define INV_X_GYRO      (0x40)
+#define INV_Y_GYRO      (0x20)
+#define INV_Z_GYRO      (0x10)
+#define INV_XYZ_GYRO    (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
+#define INV_XYZ_ACCEL   (0x08)
+#define INV_XYZ_COMPASS (0x01)
+
+//移植官方MSP430 DMP驱动过来
+struct int_param_s {
+//#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430
+    void (*cb)(void);
+    unsigned short pin;
+    unsigned char lp_exit;
+    unsigned char active_low;
+//#elif defined EMPL_TARGET_UC3L0
+//    unsigned long pin;
+//    void (*cb)(volatile void*);
+//    void *arg;
+//#endif
+};
+
+#define MPU_INT_STATUS_DATA_READY       (0x0001)
+#define MPU_INT_STATUS_DMP              (0x0002)
+#define MPU_INT_STATUS_PLL_READY        (0x0004)
+#define MPU_INT_STATUS_I2C_MST          (0x0008)
+#define MPU_INT_STATUS_FIFO_OVERFLOW    (0x0010)
+#define MPU_INT_STATUS_ZMOT             (0x0020)
+#define MPU_INT_STATUS_MOT              (0x0040)
+#define MPU_INT_STATUS_FREE_FALL        (0x0080)
+#define MPU_INT_STATUS_DMP_0            (0x0100)
+#define MPU_INT_STATUS_DMP_1            (0x0200)
+#define MPU_INT_STATUS_DMP_2            (0x0400)
+#define MPU_INT_STATUS_DMP_3            (0x0800)
+#define MPU_INT_STATUS_DMP_4            (0x1000)
+#define MPU_INT_STATUS_DMP_5            (0x2000)
+
+/* Set up APIs */
+int mpu_init(void);
+int mpu_init_slave(void);
+int mpu_set_bypass(unsigned char bypass_on);
+
+/* Configuration APIs */
+int mpu_lp_accel_mode(unsigned char rate);
+int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
+    unsigned char lpa_freq);
+int mpu_set_int_level(unsigned char active_low);
+int mpu_set_int_latched(unsigned char enable);
+
+int mpu_set_dmp_state(unsigned char enable);
+int mpu_get_dmp_state(unsigned char *enabled);
+
+int mpu_get_lpf(unsigned short *lpf);
+int mpu_set_lpf(unsigned short lpf);
+
+int mpu_get_gyro_fsr(unsigned short *fsr);
+int mpu_set_gyro_fsr(unsigned short fsr);
+
+int mpu_get_accel_fsr(unsigned char *fsr);
+int mpu_set_accel_fsr(unsigned char fsr);
+
+int mpu_get_compass_fsr(unsigned short *fsr);
+
+int mpu_get_gyro_sens(float *sens);
+int mpu_get_accel_sens(unsigned short *sens);
+
+int mpu_get_sample_rate(unsigned short *rate);
+int mpu_set_sample_rate(unsigned short rate);
+int mpu_get_compass_sample_rate(unsigned short *rate);
+int mpu_set_compass_sample_rate(unsigned short rate);
+
+int mpu_get_fifo_config(unsigned char *sensors);
+int mpu_configure_fifo(unsigned char sensors);
+
+int mpu_get_power_state(unsigned char *power_on);
+int mpu_set_sensors(unsigned char sensors);
+
+int mpu_set_accel_bias(const long *accel_bias);
+
+/* Data getter/setter APIs */
+int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
+int mpu_get_accel_reg(short *data, unsigned long *timestamp);
+int mpu_get_compass_reg(short *data, unsigned long *timestamp);
+int mpu_get_temperature(long *data);
+//int mpu_get_temperature(long *data, unsigned long *timestamp);
+
+int mpu_get_int_status(short *status);
+int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
+    unsigned char *sensors, unsigned char *more);
+int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
+    unsigned char *more);
+int mpu_reset_fifo(void);
+
+int mpu_write_mem(unsigned short mem_addr, unsigned short length,
+    unsigned char *data);
+int mpu_read_mem(unsigned short mem_addr, unsigned short length,
+    unsigned char *data);
+int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
+    unsigned short start_addr, unsigned short sample_rate);
+
+int mpu_reg_dump(void);
+int mpu_read_reg(unsigned char reg, unsigned char *data);
+int mpu_run_self_test(long *gyro, long *accel);
+int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
+//自行添加的一些函数
+void mget_ms(unsigned long *time);
+unsigned short inv_row_2_scale(const signed char *row);
+unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx);
+uint8_t run_self_test(void);
+uint8_t mpu_dmp_init(void);
+uint8_t mpu_dmp_get_data(float *pitch,float *roll,float *yaw);
+
+#endif  /* #ifndef _INV_MPU_H_ */
+

inv_mpu_dmp_motion_driver.h

+/*
+ $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_dmp_motion_driver.h
+ *      @brief      DMP image and interface functions.
+ *      @details    All functions are preceded by the dmp_ prefix to
+ *                  differentiate among MPL and general driver function calls.
+ */
+#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_
+#define _INV_MPU_DMP_MOTION_DRIVER_H_
+
+#define TAP_X               (0x01)
+#define TAP_Y               (0x02)
+#define TAP_Z               (0x04)
+#define TAP_XYZ             (0x07)
+
+#define TAP_X_UP            (0x01)
+#define TAP_X_DOWN          (0x02)
+#define TAP_Y_UP            (0x03)
+#define TAP_Y_DOWN          (0x04)
+#define TAP_Z_UP            (0x05)
+#define TAP_Z_DOWN          (0x06)
+
+#define ANDROID_ORIENT_PORTRAIT             (0x00)
+#define ANDROID_ORIENT_LANDSCAPE            (0x01)
+#define ANDROID_ORIENT_REVERSE_PORTRAIT     (0x02)
+#define ANDROID_ORIENT_REVERSE_LANDSCAPE    (0x03)
+
+#define DMP_INT_GESTURE     (0x01)
+#define DMP_INT_CONTINUOUS  (0x02)
+
+#define DMP_FEATURE_TAP             (0x001)
+#define DMP_FEATURE_ANDROID_ORIENT  (0x002)
+#define DMP_FEATURE_LP_QUAT         (0x004)
+#define DMP_FEATURE_PEDOMETER       (0x008)
+#define DMP_FEATURE_6X_LP_QUAT      (0x010)
+#define DMP_FEATURE_GYRO_CAL        (0x020)
+#define DMP_FEATURE_SEND_RAW_ACCEL  (0x040)
+#define DMP_FEATURE_SEND_RAW_GYRO   (0x080)
+#define DMP_FEATURE_SEND_CAL_GYRO   (0x100)
+
+#define INV_WXYZ_QUAT       (0x100)
+
+/* Set up functions. */
+int dmp_load_motion_driver_firmware(void);
+int dmp_set_fifo_rate(unsigned short rate);
+int dmp_get_fifo_rate(unsigned short *rate);
+int dmp_enable_feature(unsigned short mask);
+int dmp_get_enabled_features(unsigned short *mask);
+int dmp_set_interrupt_mode(unsigned char mode);
+int dmp_set_orientation(unsigned short orient);
+int dmp_set_gyro_bias(long *bias);
+int dmp_set_accel_bias(long *bias);
+
+/* Tap functions. */
+int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char));
+int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh);
+int dmp_set_tap_axes(unsigned char axis);
+int dmp_set_tap_count(unsigned char min_taps);
+int dmp_set_tap_time(unsigned short time);
+int dmp_set_tap_time_multi(unsigned short time);
+int dmp_set_shake_reject_thresh(long sf, unsigned short thresh);
+int dmp_set_shake_reject_time(unsigned short time);
+int dmp_set_shake_reject_timeout(unsigned short time);
+
+/* Android orientation functions. */
+int dmp_register_android_orient_cb(void (*func)(unsigned char));
+
+/* LP quaternion functions. */
+int dmp_enable_lp_quat(unsigned char enable);
+int dmp_enable_6x_lp_quat(unsigned char enable);
+
+/* Pedometer functions. */
+int dmp_get_pedometer_step_count(unsigned long *count);
+int dmp_set_pedometer_step_count(unsigned long count);
+int dmp_get_pedometer_walk_time(unsigned long *time);
+int dmp_set_pedometer_walk_time(unsigned long time);
+
+/* DMP gyro calibration functions. */
+int dmp_enable_gyro_cal(unsigned char enable);
+
+/* Read function. This function should be called whenever the MPU interrupt is
+ * detected.
+ */
+int dmp_read_fifo(short *gyro, short *accel, long *quat,
+    unsigned long *timestamp, short *sensors, unsigned char *more);
+
+#endif  /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */
+

mpu6050.c

+#include "mpu6050.h" 
+
+//初始化MPU6050
+//返回值:0,成功
+//    其他,错误代码
+uint8_t MPU_Init(void)
+{ 
+  uint8_t res;
+  extern I2C_HandleTypeDef hi2c1;
+  HAL_I2C_Init(&hi2c1);
+  MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80);	//复位MPU6050
+  MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00);	//唤醒MPU6050 
+  MPU_Set_Gyro_Fsr(3);					//陀螺仪传感器,±2000dps
+  MPU_Set_Accel_Fsr(0);					//加速度传感器,±2g
+  MPU_Set_Rate(50);						//设置采样率50Hz
+  MPU_Write_Byte(MPU_INT_EN_REG,0X00);	//关闭所有中断
+  MPU_Write_Byte(MPU_USER_CTRL_REG,0X00);	//I2C主模式关闭
+  MPU_Write_Byte(MPU_FIFO_EN_REG,0X00);	//关闭FIFO
+  MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80);	//INT引脚低电平有效
+  res=MPU_Read_Byte(MPU_DEVICE_ID_REG);
+  if(res==MPU_ADDR)//器件ID正确
+  {
+    MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01);	//设置CLKSEL,PLL X轴为参考
+    MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00);	//加速度与陀螺仪都工作
+    MPU_Set_Rate(50);						//设置采样率为50Hz
+  }else return 1;
+  return 0;
+}
+//设置MPU6050陀螺仪传感器满量程范围
+//fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
+//返回值:0,设置成功
+//    其他,设置失败 
+uint8_t MPU_Set_Gyro_Fsr(uint8_t fsr)
+{
+	return MPU_Write_Byte(MPU_GYRO_CFG_REG,fsr<<3);//设置陀螺仪满量程范围  
+}
+//设置MPU6050加速度传感器满量程范围
+//fsr:0,±2g;1,±4g;2,±8g;3,±16g
+//返回值:0,设置成功
+//    其他,设置失败 
+uint8_t MPU_Set_Accel_Fsr(uint8_t fsr)
+{
+	return MPU_Write_Byte(MPU_ACCEL_CFG_REG,fsr<<3);//设置加速度传感器满量程范围  
+}
+//设置MPU6050的数字低通滤波器
+//lpf:数字低通滤波频率(Hz)
+//返回值:0,设置成功
+//    其他,设置失败 
+uint8_t MPU_Set_LPF(uint16_t lpf)
+{
+	uint8_t data=0;
+	if(lpf>=188)data=1;
+	else if(lpf>=98)data=2;
+	else if(lpf>=42)data=3;
+	else if(lpf>=20)data=4;
+	else if(lpf>=10)data=5;
+	else data=6; 
+	return MPU_Write_Byte(MPU_CFG_REG,data);//设置数字低通滤波器  
+}
+//设置MPU6050的采样率(假定Fs=1KHz)
+//rate:4~1000(Hz)
+//返回值:0,设置成功
+//    其他,设置失败 
+uint8_t MPU_Set_Rate(uint16_t rate)
+{
+	uint8_t data;
+	if(rate>1000)rate=1000;
+	if(rate<4)rate=4;
+	data=1000/rate-1;
+	data=MPU_Write_Byte(MPU_SAMPLE_RATE_REG,data);	//设置数字低通滤波器
+ 	return MPU_Set_LPF(rate/2);	//自动设置LPF为采样率的一半
+}
+
+//得到温度值
+//返回值:温度值(扩大了100倍)
+float MPU_Get_Temperature(void)
+{
+  unsigned char  buf[2]; 
+  short raw;
+  float temp;
+  
+  MPU_Read_Len(MPU_TEMP_OUTH_REG,2,buf); 
+  raw=(buf[0]<<8)| buf[1];  
+  temp=(36.53+((double)raw)/340)*100;  
+//  temp = (long)((35 + (raw / 340)) * 65536L);
+  return temp/100.0f;
+}
+//得到陀螺仪值(原始值)
+//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
+//返回值:0,成功
+//    其他,错误代码
+uint8_t MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
+{
+    uint8_t buf[6],res;  
+	res=MPU_Read_Len(MPU_GYRO_XOUTH_REG,6,buf);
+	if(res==0)
+	{
+		*gx=((uint16_t)buf[0]<<8)|buf[1];  
+		*gy=((uint16_t)buf[2]<<8)|buf[3];  
+		*gz=((uint16_t)buf[4]<<8)|buf[5];
+	} 	
+    return res;
+}
+//得到加速度值(原始值)
+//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
+//返回值:0,成功
+//    其他,错误代码
+uint8_t MPU_Get_Accelerometer(short *ax,short *ay,short *az)
+{
+    uint8_t buf[6],res;  
+	res=MPU_Read_Len(MPU_ACCEL_XOUTH_REG,6,buf);
+	if(res==0)
+	{
+		*ax=((uint16_t)buf[0]<<8)|buf[1];  
+		*ay=((uint16_t)buf[2]<<8)|buf[3];  
+		*az=((uint16_t)buf[4]<<8)|buf[5];
+	} 	
+    return res;;
+}
+
+
+//IIC连续写
+uint8_t MPU_Write_Len(uint8_t reg,uint8_t len,uint8_t *buf)
+{
+  extern I2C_HandleTypeDef hi2c1;
+  HAL_I2C_Mem_Write(&hi2c1, MPU_WRITE, reg, I2C_MEMADD_SIZE_8BIT, buf, len, 0xfff);
+  HAL_Delay(100);
+  
+  return 0;
+}
+//IIC连续读
+//addr:器件地址
+//reg:要读取的寄存器地址
+//len:要读取的长度
+//buf:读取到的数据存储区
+//返回值:0,正常
+//    其他,错误代码
+uint8_t MPU_Read_Len(uint8_t reg,uint8_t len,uint8_t *buf)
+{ 
+  extern I2C_HandleTypeDef hi2c1;
+  HAL_I2C_Mem_Read(&hi2c1, MPU_READ, reg, I2C_MEMADD_SIZE_8BIT, buf, len, 0xfff);
+  HAL_Delay(100);
+  
+  return 0;	
+}
+//IIC写一个字节 
+//reg:寄存器地址
+//data:数据
+//返回值:0,正常
+//    其他,错误代码
+uint8_t MPU_Write_Byte(uint8_t reg,uint8_t data) 				 
+{ 
+  extern I2C_HandleTypeDef hi2c1;
+  unsigned char W_Data=0;
+
+  W_Data = data;
+  HAL_I2C_Mem_Write(&hi2c1, MPU_WRITE, reg, I2C_MEMADD_SIZE_8BIT, &W_Data, 1, 0xfff);
+  HAL_Delay(100);
+  
+  return 0;
+}
+//IIC读一个字节 
+//reg:寄存器地址 
+//返回值:读到的数据
+uint8_t MPU_Read_Byte(uint8_t reg)
+{
+  extern I2C_HandleTypeDef hi2c1;
+  unsigned char R_Data=0;
+  
+  HAL_I2C_Mem_Read(&hi2c1, MPU_READ, reg, I2C_MEMADD_SIZE_8BIT, &R_Data, 1, 0xfff);
+  HAL_Delay(100);
+  
+  return R_Data;		
+}
+
+

mpu6050.h

+#ifndef __MPU6050_H
+#define __MPU6050_H
+
+#include "stm32f1xx_hal.h"										  	  
+
+
+//#define MPU_ACCEL_OFFS_REG		0X06	//accel_offs寄存器,可读取版本号,寄存器手册未提到
+//#define MPU_PROD_ID_REG			0X0C	//prod id寄存器,在寄存器手册未提到
+#define MPU_SELF_TESTX_REG		0X0D	//自检寄存器X
+#define MPU_SELF_TESTY_REG		0X0E	//自检寄存器Y
+#define MPU_SELF_TESTZ_REG		0X0F	//自检寄存器Z
+#define MPU_SELF_TESTA_REG		0X10	//自检寄存器A
+#define MPU_SAMPLE_RATE_REG		0X19	//采样频率分频器
+#define MPU_CFG_REG			0X1A	//配置寄存器
+#define MPU_GYRO_CFG_REG		0X1B	//陀螺仪配置寄存器
+#define MPU_ACCEL_CFG_REG		0X1C	//加速度计配置寄存器
+#define MPU_MOTION_DET_REG		0X1F	//运动检测阀值设置寄存器
+#define MPU_FIFO_EN_REG			0X23	//FIFO使能寄存器
+#define MPU_I2CMST_CTRL_REG		0X24	//IIC主机控制寄存器
+#define MPU_I2CSLV0_ADDR_REG	        0X25	//IIC从机0器件地址寄存器
+#define MPU_I2CSLV0_REG			0X26	//IIC从机0数据地址寄存器
+#define MPU_I2CSLV0_CTRL_REG	        0X27	//IIC从机0控制寄存器
+#define MPU_I2CSLV1_ADDR_REG	        0X28	//IIC从机1器件地址寄存器
+#define MPU_I2CSLV1_REG			0X29	//IIC从机1数据地址寄存器
+#define MPU_I2CSLV1_CTRL_REG	        0X2A	//IIC从机1控制寄存器
+#define MPU_I2CSLV2_ADDR_REG	        0X2B	//IIC从机2器件地址寄存器
+#define MPU_I2CSLV2_REG			0X2C	//IIC从机2数据地址寄存器
+#define MPU_I2CSLV2_CTRL_REG	        0X2D	//IIC从机2控制寄存器
+#define MPU_I2CSLV3_ADDR_REG	        0X2E	//IIC从机3器件地址寄存器
+#define MPU_I2CSLV3_REG			0X2F	//IIC从机3数据地址寄存器
+#define MPU_I2CSLV3_CTRL_REG	        0X30	//IIC从机3控制寄存器
+#define MPU_I2CSLV4_ADDR_REG	        0X31	//IIC从机4器件地址寄存器
+#define MPU_I2CSLV4_REG			0X32	//IIC从机4数据地址寄存器
+#define MPU_I2CSLV4_DO_REG		0X33	//IIC从机4写数据寄存器
+#define MPU_I2CSLV4_CTRL_REG	        0X34	//IIC从机4控制寄存器
+#define MPU_I2CSLV4_DI_REG		0X35	//IIC从机4读数据寄存器
+
+#define MPU_I2CMST_STA_REG		0X36	//IIC主机状态寄存器
+#define MPU_INTBP_CFG_REG		0X37	//中断/旁路设置寄存器
+#define MPU_INT_EN_REG			0X38	//中断使能寄存器
+#define MPU_INT_STA_REG			0X3A	//中断状态寄存器
+
+#define MPU_ACCEL_XOUTH_REG		0X3B	//加速度值,X轴高8位寄存器
+#define MPU_ACCEL_XOUTL_REG		0X3C	//加速度值,X轴低8位寄存器
+#define MPU_ACCEL_YOUTH_REG		0X3D	//加速度值,Y轴高8位寄存器
+#define MPU_ACCEL_YOUTL_REG		0X3E	//加速度值,Y轴低8位寄存器
+#define MPU_ACCEL_ZOUTH_REG		0X3F	//加速度值,Z轴高8位寄存器
+#define MPU_ACCEL_ZOUTL_REG		0X40	//加速度值,Z轴低8位寄存器
+
+#define MPU_TEMP_OUTH_REG		0X41	//温度值高八位寄存器
+#define MPU_TEMP_OUTL_REG		0X42	//温度值低8位寄存器
+
+#define MPU_GYRO_XOUTH_REG		0X43	//陀螺仪值,X轴高8位寄存器
+#define MPU_GYRO_XOUTL_REG		0X44	//陀螺仪值,X轴低8位寄存器
+#define MPU_GYRO_YOUTH_REG		0X45	//陀螺仪值,Y轴高8位寄存器
+#define MPU_GYRO_YOUTL_REG		0X46	//陀螺仪值,Y轴低8位寄存器
+#define MPU_GYRO_ZOUTH_REG		0X47	//陀螺仪值,Z轴高8位寄存器
+#define MPU_GYRO_ZOUTL_REG		0X48	//陀螺仪值,Z轴低8位寄存器
+
+#define MPU_I2CSLV0_DO_REG		0X63	//IIC从机0数据寄存器
+#define MPU_I2CSLV1_DO_REG		0X64	//IIC从机1数据寄存器
+#define MPU_I2CSLV2_DO_REG		0X65	//IIC从机2数据寄存器
+#define MPU_I2CSLV3_DO_REG		0X66	//IIC从机3数据寄存器
+
+#define MPU_I2CMST_DELAY_REG	        0X67	//IIC主机延时管理寄存器
+#define MPU_SIGPATH_RST_REG		0X68	//信号通道复位寄存器
+#define MPU_MDETECT_CTRL_REG	        0X69	//运动检测控制寄存器
+#define MPU_USER_CTRL_REG		0X6A	//用户控制寄存器
+#define MPU_PWR_MGMT1_REG		0X6B	//电源管理寄存器1
+#define MPU_PWR_MGMT2_REG		0X6C	//电源管理寄存器2 
+#define MPU_FIFO_CNTH_REG		0X72	//FIFO计数寄存器高八位
+#define MPU_FIFO_CNTL_REG		0X73	//FIFO计数寄存器低八位
+#define MPU_FIFO_RW_REG			0X74	//FIFO读写寄存器
+#define MPU_DEVICE_ID_REG		0X75	//器件ID寄存器
+ 
+//如果AD0脚(9脚)接地,IIC地址为0X68(不包含最低位).
+//如果接V3.3,则IIC地址为0X69(不包含最低位).
+#define MPU_ADDR				0X68
+
+
+////因为开发板接GND,所以转为读写地址后,为0XD1和0XD0(如果接GND,则为0XD3和0XD2)  
+#define MPU_READ    0XD1
+#define MPU_WRITE   0XD0
+
+uint8_t MPU_Init(void); 						//初始化MPU6050
+uint8_t MPU_Write_Len(uint8_t reg,uint8_t len,uint8_t *buf);                           //IIC连续写
+uint8_t MPU_Read_Len(uint8_t reg,uint8_t len,uint8_t *buf);                         //IIC连续读 
+uint8_t MPU_Write_Byte(uint8_t reg,uint8_t data);				//IIC写一个字节
+uint8_t MPU_Read_Byte(uint8_t reg);					//IIC读一个字节
+
+uint8_t MPU_Set_Gyro_Fsr(uint8_t fsr);
+uint8_t MPU_Set_Accel_Fsr(uint8_t fsr);
+uint8_t MPU_Set_LPF(uint16_t lpf);
+uint8_t MPU_Set_Rate(uint16_t rate);
+uint8_t MPU_Set_Fifo(uint8_t sens);
+
+
+float MPU_Get_Temperature(void);
+uint8_t MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
+uint8_t MPU_Get_Accelerometer(short *ax,short *ay,short *az);
+
+#endif
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