MPU6050DMP之stm32例程

if(!result) //返回0代表初始化成功 { if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL)){} if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)){} if(!mpu_set_sample_rate(DEFAULT_MPU_HZ)){} if(!dmp_load_motion_driver_firmware()){} if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation))){} 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)) {} if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ)){} if(!mpu_set_dmp_state(1)){} }