[STM32F1] 移植MPU6050/9250的DMP官方库修改移植 DMP简单教程

#ifdef EMPL_TARGET_STM32F1

    __NOP();

#else

    __no_operation();

#endif

    // __no_operation();

#define INV_PRIORITY_MOTION_NO_MOTION          100

#define INV_PRIORITY_GYRO_TC                   150

#define INV_PRIORITY_QUATERNION_GYRO_ACCEL     200

#define INV_PRIORITY_QUATERNION_NO_GYRO        250

#define INV_PRIORITY_MAGNETIC_DISTURBANCE      300

#define INV_PRIORITY_HEADING_FROM_GYRO         350

#define INV_PRIORITY_COMPASS_BIAS_W_GYRO       375

#define INV_PRIORITY_COMPASS_VECTOR_CAL        400

#define INV_PRIORITY_COMPASS_ADV_BIAS          500

#define INV_PRIORITY_9_AXIS_FUSION             600

#define INV_PRIORITY_QUATERNION_ADJUST_9_AXIS  700

#define INV_PRIORITY_QUATERNION_ACCURACY       750

#define INV_PRIORITY_RESULTS_HOLDER            800

#define INV_PRIORITY_INUSE_AUTO_CALIBRATION    850

#define INV_PRIORITY_EMPL_OUTPUTS              899

#define INV_PRIORITY_HAL_OUTPUTS               900//原文件中均使用此优先级

#define INV_PRIORITY_GLYPH                     950

#define INV_PRIORITY_SHAKE                     975

#define INV_PRIORITY_SM                        1000





inv_register_data_cb(inv_generate_hal_outputs, INV_PRIORITY_HAL_OUTPUTS, INV_GYRO_NEW | INV_ACCEL_NEW | INV_MAG_NEW);

inv_register_data_cb(inv_generate_eMPL_outputs, INV_PRIORITY_EMPL_OUTPUTS,INV_GYRO_NEW | INV_ACCEL_NEW | INV_MAG_NEW);

/* 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)*



*/

/* 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)*



*/

uint8_t MPU6050_mpu_init(void);

uint8_t MPU6050_mpl_init(void);

uint8_t MPU6050_config(void);

在mpu6050_SL.c中

inv_error_t inv_enable_hal_outputs(void)

{

    inv_error_t result;

    inv_init_hal_outputs();

    result = inv_register_mpl_start_notification(inv_start_hal_outputs);//注册启动函数，

    return result;

}



inv_error_t inv_register_mpl_start_notification(inv_error_t (*start_cb)(void))

{

    if (inv_start_cb.num_cb >= INV_MAX_START_CB)

        return INV_ERROR_INVALID_PARAMETER;



    inv_start_cb.start_cb[inv_start_cb.num_cb] = start_cb;//将函数指针存起来

    inv_start_cb.num_cb++;

    return INV_SUCCESS;

}



inv_error_t inv_start_mpl(void)

{

    INV_ERROR_CHECK(inv_execute_mpl_start_notification());//执行启动函数

    return INV_SUCCESS;

}



inv_error_t inv_start_hal_outputs(void)

{

    inv_error_t result;

    result =inv_register_data_cb(inv_generate_hal_outputs, INV_PRIORITY_HAL_OUTPUTS,

                             INV_GYRO_NEW | INV_ACCEL_NEW | INV_MAG_NEW);//注册数据处理函数，同样将函数指针存起来，此处INV_PRIORITY_HAL_OUTPUTS是优先级，数组中函数指针按优先级排序

    return result;

}







inv_error_t inv_execute_on_data(void)

{

    inv_error_t result, first_error;

    int kk;

    int mode;



#ifdef INV_PLAYBACK_DBG

    if (inv_data_builder.debug_mode == RD_RECORD)

    {

        int type = PLAYBACK_DBG_TYPE_EXECUTE;

        fwrite(&type, sizeof(type), 1, inv_data_builder.file);

    }

#endif

    // Determine what new data we have

    mode = 0;

    if (sensors.gyro.status & INV_NEW_DATA)

        mode |= INV_GYRO_NEW;

    if (sensors.accel.status & INV_NEW_DATA)

        mode |= INV_ACCEL_NEW;

    if (sensors.compass.status & INV_NEW_DATA)

        mode |= INV_MAG_NEW;

    if (sensors.temp.status & INV_NEW_DATA)

        mode |= INV_TEMP_NEW;

    if (sensors.quat.status & INV_NEW_DATA)

        mode |= INV_QUAT_NEW;



    first_error = INV_SUCCESS;



    for (kk = 0; kk < inv_data_builder.num_cb; ++kk)

    {

        if (mode & inv_data_builder.process[kk].data_required)

        {

            result = inv_data_builder.process[kk].func(&sensors);//使用存起来的数据处理函数

            if (result && !first_error)

            {

                first_error = result;

            }

        }

    }



    inv_set_contiguous();



    return first_error;

}

 for (kk = 0; kk < inv_data_builder.num_cb; ++kk)

    {

        if ((inv_data_builder.process[kk].func == func) || (inv_data_builder.process[kk].priority == priority))

        {

            return INV_ERROR_INVALID_PARAMETER; // fixme give a warning

        }

    }