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用的TIVA C处理器,正在移植DMP库...读dmp_read_fifo(gyro_data, accel_data, quat, &sensor_timestamp, &sensors, &more);时候就是读不出数啊都是0....诶...
if(mpu_init())while(1);
if(mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))while(1);
if(mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL))while(1);
if(mpu_set_sample_rate(100))while(1);
if(dmp_load_motion_driver_firmware())while(1);
if(dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))while(1);
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))while(1);
if(dmp_set_fifo_rate(100))while(1);
run_self_test();
if(mpu_set_dmp_state(1))while(1);
while(1)
{
status=dmp_read_fifo(gyro_data, accel_data, quat, &sensor_timestamp, &sensors, &more); |
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