将mpu9250读取角度的程序移植到了stm32f103上,方便测试原始数据是否正确。

STM32F407读取MPU9250原始数据，成功实现了九轴所以数据读取，包括磁力计的读取

Embedded MotionDriver 6.12 is our first ever 9-axis solution not locked to a specific MCU.Version 6.1.2 is an update to 6.1 that includes bug fixes and new libraries. This release is supported across all ARM Mx core architectures and supports the InvenSense MPU-6000, 6050, 6500, 9150, and 9250. The release includes optimized libraries and example projects for M3 and M4 cores as well the generic ARM library for any Mx core and an additional library and project for the TI MSP430. eMD 6.1 also includes a Python client for both visualizing the sensor performance and commands for printing data. This solution will allow you to easily leverage and configure numerous features of the DMP and also benefit from dynamic features in the MPL software library. Libraries specific to IAR, Keil, and GCC are included.

STM32F103调试成功，基于卖家资料和正点原子代买所写。如果触犯他人权利，请联系我，会及时清除。

关于F1系列的MPU9250的DMP，能在正点原子Ministm32上直接运行，得到欧拉角。

基于nrf51822 MPU9250 SPI驱动

9轴传感器官方驱动包，内含stm32F4驱动、mps430等驱动，各位下载下来后自己看吧。

U_Print(USART1,int( angle[0].roll * Rad2Dree));// pitch mpu 1 U_Print(USART1,int (angle[0].pitch * Rad2Dree));// roll mpu1 U_Print(USART1,int( angle[0].yaw * Rad2Dree));// yaw mpu 1 U_Print_float(USART1,float (heading * Rad2Dree));

基于stm32f103ze+mpu9250通过官方DMP库串口输出角度。

使用STM32F103RCT6读取MPU9250姿态数据，相关姿态解算已经实现