MPU6050的DMP库中的inv_mpu.c中的函数需不需要看懂？

书9500

大神们救命啊，看了一天了，都被那里面的各种配置绕晕了。
好复杂，好复杂。。。

书9500

数据到是读出来了，但是函数看不懂。一点也不会改啊。

书9500

谁能帮我解释一下，DMP的配置过程啊？
void MPU6050_DMP_Init(void)
{        
    if(!mpu_init())
  {
    /* Get/set hardware configuration. Start gyro. */
    /* Wake up all sensors. */
                if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))
                   printf("mpu_set_sensor complete ......\r\n");
                /* Push both gyro and accel data into the FIFO. */
          if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL))
                   printf("mpu_configure_fifo complete ......\r\n");
          if(!mpu_set_sample_rate(DEFAULT_MPU_HZ))
                   printf("mpu_set_sample_rate complete ......\r\n");
                /* To initialize the DMP:
     * 1. Call dmp_load_motion_driver_firmware(). This pushes the DMP image in
     *    inv_mpu_dmp_motion_driver.h into the MPU memory.
     * 2. Push the gyro and accel orientation matrix to the DMP.
     * 3. Register gesture callbacks. Don't worry, these callbacks won't be
     *    executed unless the corresponding feature is enabled.
     * 4. Call dmp_enable_feature(mask) to enable different features.
     * 5. Call dmp_set_fifo_rate(freq) to select a DMP output rate.
     * 6. Call any feature-specific control functions.
     *
     * To enable the DMP, just call mpu_set_dmp_state(1). This function can
     * be called repeatedly to enable and disable the DMP at runtime.
     *
     * The following is a short summary of the features supported in the DMP
     * image provided in inv_mpu_dmp_motion_driver.c:
     * DMP_FEATURE_LP_QUAT: Generate a gyro-only quaternion on the DMP at
     * 200Hz. Integrating the gyro data at higher rates reduces numerical
     * errors (compared to integration on the MCU at a lower sampling rate).
     * DMP_FEATURE_6X_LP_QUAT: Generate a gyro/accel quaternion on the DMP at
     * 200Hz. Cannot be used in combination with DMP_FEATURE_LP_QUAT.
     * DMP_FEATURE_TAP: Detect taps along the X, Y, and Z axes.
     * DMP_FEATURE_ANDROID_ORIENT: Google's screen rotation algorithm. Triggers
     * an event at the four orientations where the screen should rotate.
     * DMP_FEATURE_GYRO_CAL: Calibrates the gyro data after eight seconds of
     * no motion.
     * DMP_FEATURE_SEND_RAW_ACCEL: Add raw accelerometer data to the FIFO.
     * DMP_FEATURE_SEND_RAW_GYRO: Add raw gyro data to the FIFO.
     * DMP_FEATURE_SEND_CAL_GYRO: Add calibrated gyro data to the FIFO. Cannot
     * be used in combination with DMP_FEATURE_SEND_RAW_GYRO.
     */
          if(!dmp_load_motion_driver_firmware())
                  printf("dmp_load_motion_driver_firmware complete ......\r\n");
          if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))
                   printf("dmp_set_orientation complete ......\r\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))
                   printf("dmp_enable_feature complete ......\r\n");
          if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ))
                   printf("dmp_set_fifo_rate complete ......\r\n");
          run_self_test();
          if(!mpu_set_dmp_state(1))
                   printf("mpu_set_dmp_state complete ......\r\n");
  }
}

沉默胜过白金

握个手，，，哈哈，你比我快。我的数据也没读出来。我的是MPU9250.

书9500

沉默胜过白金 发表于 2015-7-24 17:01
握个手，，，哈哈，你比我快。我的数据也没读出来。我的是MPU9250.

内部集成了磁力计？

沉默胜过白金

书9500 发表于 2015-7-24 17:08
内部集成了磁力计？

是的。一起折腾哈。