开始没有开DMP功能，用模拟I2C读取MPU6050的角速度和加速度值都可以，之后开启DMP功能，参考各位大神历程，只是inv_mpu.c添加了I2Cd的读写函数，运行之后的结果是，程序在mpu_init()处都没有通过，对mpu初始化失败。下边是部分程序代码：
int result = 0;
result = mpu_init();
if(!result)
{
printf("mpu initialization complete......\n ");
if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL)) // enable sensors
printf("mpu_set_sensor complete ......\n");
else
printf("mpu_set_sensor come across error ......\n");
if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) //sensors_fifo_enable
printf("mpu_configure_fifo complete ......\n");
else
printf("mpu_configure_fifo come across error ......\n");
if(!mpu_set_sample_rate(DEFAULT_MPU_HZ)) //configure sample_rate
printf("mpu_set_sample_rate complete ......\n");
else
printf("mpu_set_sample_rate error ......\n");
if(!dmp_load_motion_driver_firmware()) //dmp_load_motion_driver_firmvare
printf("dmp_load_motion_driver_firmware complete ......\n");
else
printf("dmp_load_motion_driver_firmware come across error ......\n");
if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation))) //Configure
printf("dmp_set_orientation complete ......\n");
else
printf("dmp_set_orientation come across error ......\n");
if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
DMP_FEATURE_GYRO_CAL)) //dmp_enable_feature
printf("dmp_enable_feature complete ......\n");
else
printf("dmp_enable_feature come across error ......\n");
if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ)) //dmp_set_fifo_rate
printf("dmp_set_fifo_rate complete ......\n");
else
printf("dmp_set_fifo_rate come across error ......\n");
run_self_test(); //AUTOself check
if(!mpu_set_dmp_state(1)) // Enable the function of DMP
printf("mpu_set_dmp_state complete ......\n");
else
printf("mpu_set_dmp_state come across error ......\n");
} |
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