MPU6050移植编译错误
第一个错误的指向程序，好像说是几个宏没定义，但是我不懂具体是说的啥
struct int_param_s {
#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430
void (*cb)(void);
unsigned short pin;
unsigned char lp_exit;
unsigned char active_low;
#elif defined EMPL_TARGET_UC3L0
unsigned long pin;
void (*cb)(volatile void*);
void *arg;
#endif
};
感觉是移植方法的问题，不在编译器上有点难找问题，小编能给我一份源程序吗，还有你移植的DMP的原来的程序
1654126778@qq.com
是不是conf.h那个头文件没有把注释去掉
conf.h是STM32的啊，这个是移植的DMP自带的一个h文件应该跟32没什么关系吧
对，错误的位置图片有没，或者我能看看源码吗
我有STM32F411的MPU6050程序，小编可以给个邮箱！
我用的是STM32F103不知道有多大区别啊，当然还是要试试了。cj5170@163.com，先谢谢啦！
我那图片下下面一段就是第一个错误指向的那个结构体。我把源码贴到帖子下面
这是MPU6050.C的程序，这个里面目前也有两个问题
mpu6050\MPU6050\MPU6050.c(268): error: #165: too few arguments in function call
mpu6050\MPU6050\MPU6050.c: if(！mpu_init())
mpu6050\MPU6050\MPU6050.c(310): warning: #223-D: function "asin" declared implicitly
mpu6050\MPU6050\MPU6050.c: Pitch = (asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3);
#include "MPU6050.h"
#include "IOI2C.h"
#include "usart.h"
#include "inv_mpu_dmp_motion_driver.h"
#include "inv_mpu.h"
#define PRINT_ACCEL (0x01)
#define PRINT_GYRO (0x02)
#define PRINT_QUAT (0x04)
#define ACCEL_ON (0x01)
#define GYRO_ON (0x02)
#define MOTION (0)
#define NO_MOTION (1)
#define DEFAULT_MPU_HZ (200)
#define FLASH_SIZE (512)
#define FLASH_MEM_START ((void*)0x1800)
#define q30 1073741824.0f
short gyro[3], accel[3], sensors;
float Pitch;
float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
static signed char gyro_orientation[9] = {-1, 0, 0,
0,-1, 0,
0, 0, 1};
static unsigned short inv_row_2_scale(const signed char *row)
{
unsigned short b;
if (row[0] > 0)
b = 0;
else if (row[0] < 0)
b = 4;
else if (row[1] > 0)
b = 1;
else if (row[1] < 0)
b = 5;
else if (row[2] > 0)
b = 2;
else if (row[2] < 0)
b = 6;
else
b = 7; // error
return b;
}
static unsigned short inv_orientation_matrix_to_scalar(
const signed char *mtx)
{
unsigned short scalar;
scalar = inv_row_2_scale(mtx);
scalar |= inv_row_2_scale(mtx + 3) << 3;
scalar |= inv_row_2_scale(mtx + 6) << 6;
return scalar;
}
static void run_self_test(void)
{
int result;
long gyro[3], accel[3];
result = mpu_run_self_test(gyro, accel);
if (result == 0x7) {
/* Test passed. We can trust the gyro data here, so let's push it down
* to the DMP.
*/
float sens;
unsigned short accel_sens;
mpu_get_gyro_sens(&sens);
gyro[0] = (long)(gyro[0] * sens);
gyro[1] = (long)(gyro[1] * sens);
gyro[2] = (long)(gyro[2] * sens);
dmp_set_gyro_bias(gyro);
mpu_get_accel_sens(&accel_sens);
accel[0] *= accel_sens;
accel[1] *= accel_sens;
accel[2] *= accel_sens;
dmp_set_accel_bias(accel);
printf("setting bias succesfully ......\r\n");
}
}
uint8_t buffer[14];
int16_t MPU6050_FIFO[6][11];
int16_t Gx_offset=0,Gy_offset=0,Gz_offset=0;
/**************************实现函数********************************************
*函数原型: void MPU6050_newValues(int16_t ax,int16_t ay,int16_t az,int16_t gx,int16_t gy,int16_t gz)
*功 能: 将新的ADC数据更新到 FIFO数组，进行滤波处理
*******************************************************************************/
void MPU6050_newValues(int16_t ax,int16_t ay,int16_t az,int16_t gx,int16_t gy,int16_t gz)
{
unsigned char i ;
int32_t sum=0;
for(i=1;i<10;i++){ //FIFO 操作
MPU6050_FIFO[0][i-1]=MPU6050_FIFO[0];
MPU6050_FIFO[1][i-1]=MPU6050_FIFO[1];
MPU6050_FIFO[2][i-1]=MPU6050_FIFO[2];
MPU6050_FIFO[3][i-1]=MPU6050_FIFO[3];
MPU6050_FIFO[4][i-1]=MPU6050_FIFO[4];
MPU6050_FIFO[5][i-1]=MPU6050_FIFO[5];
}
MPU6050_FIFO[0][9]=ax;//将新的数据放置到 数据的最后面
MPU6050_FIFO[1][9]=ay;
MPU6050_FIFO[2][9]=az;
MPU6050_FIFO[3][9]=gx;
MPU6050_FIFO[4][9]=gy;
MPU6050_FIFO[5][9]=gz;
sum=0;
for(i=0;i<10;i++){ //求当前数组的合，再取平均值
sum+=MPU6050_FIFO[0];
}
MPU6050_FIFO[0][10]=sum/10;
sum=0;
for(i=0;i<10;i++){
sum+=MPU6050_FIFO[1];
}
MPU6050_FIFO[1][10]=sum/10;
sum=0;
for(i=0;i<10;i++){
sum+=MPU6050_FIFO[2];
}
MPU6050_FIFO[2][10]=sum/10;
sum=0;
for(i=0;i<10;i++){
sum+=MPU6050_FIFO[3];
}
MPU6050_FIFO[3][10]=sum/10;
sum=0;
for(i=0;i<10;i++){
sum+=MPU6050_FIFO[4];
}
MPU6050_FIFO[4][10]=sum/10;
sum=0;
for(i=0;i<10;i++){
sum+=MPU6050_FIFO[5];
}
MPU6050_FIFO[5][10]=sum/10;
}
/**************************实现函数********************************************
*函数原型: void MPU6050_setClockSource(uint8_t source)
*功 能: 设置 MPU6050 的时钟源
* CLK_SEL | Clock Source
* --------+--------------------------------------
* 0 | Internal oscillator
* 1 | PLL with X Gyro reference
* 2 | PLL with Y Gyro reference
* 3 | PLL with Z Gyro reference
* 4 | PLL with external 32.768kHz reference
* 5 | PLL with external 19.2MHz reference
* 6 | Reserved
* 7 | Stops the clock and keeps the timing generator in reset
*******************************************************************************/
void MPU6050_setClockSource(uint8_t source){
IICwriteBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
}
/** Set full-scale gyroscope range.
* @param range New full-scale gyroscope range value
* @SEE getFullScaleRange()
* @see MPU6050_GYRO_FS_250
* @see MPU6050_RA_GYRO_CONFIG
* @see MPU6050_GCONFIG_FS_SEL_BIT
* @see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
void MPU6050_setFullScaleGyroRange(uint8_t range) {
IICwriteBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
}
/**************************实现函数********************************************
*函数原型: void MPU6050_setFullScaleAccelRange(uint8_t range)
*功 能: 设置 MPU6050 加速度计的最大量程
*******************************************************************************/
void MPU6050_setFullScaleAccelRange(uint8_t range) {
IICwriteBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
}
/**************************实现函数********************************************
*函数原型: void MPU6050_setSleepEnabled(uint8_t enabled)
*功 能: 设置 MPU6050 是否进入睡眠模式
enabled =1 睡觉
enabled =0 工作
*******************************************************************************/
void MPU6050_setSleepEnabled(uint8_t enabled) {
IICwriteBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
}
/**************************实现函数********************************************
*函数原型: uint8_t MPU6050_getDeviceID(void)
*功 能: 读取 MPU6050 WHO_AM_I 标识 将返回 0x68
*******************************************************************************/
uint8_t MPU6050_getDeviceID(void) {
IICreadBytes(devAddr, MPU6050_RA_WHO_AM_I, 1, buffer);
return buffer[0];
}
/**************************实现函数********************************************
*函数原型: uint8_t MPU6050_testConnection(void)
*功 能: 检测MPU6050 是否已经连接
*******************************************************************************/
uint8_t MPU6050_testConnection(void) {
if(MPU6050_getDeviceID() == 0x68) //0b01101000;
return 1;
else return 0;
}
/**************************实现函数********************************************
*函数原型: void MPU6050_setI2CMasterModeEnabled(uint8_t enabled)
*功 能: 设置 MPU6050 是否为AUX I2C线的主机
*******************************************************************************/
void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) {
IICwriteBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
}
/**************************实现函数********************************************
*函数原型: void MPU6050_setI2CBypassEnabled(uint8_t enabled)
*功 能: 设置 MPU6050 是否为AUX I2C线的主机
*******************************************************************************/
void MPU6050_setI2CBypassEnabled(uint8_t enabled) {
IICwriteBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
}
/**************************实现函数********************************************
*函数原型: void MPU6050_initialize(void)
*功 能: 初始化 MPU6050 以进入可用状态。
*******************************************************************************/
void MPU6050_initialize(void) {
MPU6050_setClockSource(MPU6050_CLOCK_PLL_YGYRO); //设置时钟
MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000);//陀螺仪最大量程 +-1000度每秒
MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2); //加速度度最大量程 +-2G
MPU6050_setSleepEnabled(0); //进入工作状态
MPU6050_setI2CMasterModeEnabled(0); //不让MPU6050 控制AUXI2C
MPU6050_setI2CBypassEnabled(0); //主控制器的I2C与 MPU6050的AUXI2C 直通。控制器可以直接访问HMC5883L
}
/**************************************************************************
函数功能：MPU6050内置DMP的初始化
入口参数：无
返回 值：无
作 者：平衡小车之家
**************************************************************************/
void DMP_Init(void)
{
u8 temp[1]={0};
i2cRead(0x68,0x75,1,temp);
printf("mpu_set_sensor complete ......\r\n");
if(temp[0]！=0x68)NVIC_SystemReset();
if(！mpu_init())
{
if(！mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))
printf("mpu_set_sensor complete ......\r\n");
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");
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");
}
}
/**************************************************************************
函数功能：读取MPU6050内置DMP的姿态信息
入口参数：无
返回 值：无
作 者：平衡小车之家
**************************************************************************/
void Read_DMP(void)
{
unsigned long sensor_timestamp;
unsigned char more;
long quat[4];
dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);
if (sensors & INV_WXYZ_QUAT )
{
q0=quat[0] / q30;
q1=quat[1] / q30;
q2=quat[2] / q30;
q3=quat[3] / q30;
Pitch = (asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3);
printf("%f\r\n",Pitch);
}
}
/**************************************************************************
函数功能：读取MPU6050内置温度传感器数据
入口参数：无
返回 值：摄氏温度
作 者：平衡小车之家
**************************************************************************/
int Read_Temperature(void)
{
float Temp;
Temp=(I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_L);
if(Temp>32768) Temp-=65536;
Temp=(36.53+Temp/340)*10;
return (int)Temp;
}
//------------------End of File----------------------------
这个是inv_mpu.h的程序，一个错误在这里
mpu6050\inv_mpu.h(44): error: #169: expected a declaration
mpu6050\inv_mpu.h: };
/*
$License:
Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved.
See included License.txt for License information.
$
*/
/**
* @addtogroup DRIVERS Sensor Driver Layer
* @brief Hardware drivers to communicate with sensors via I2C.
*
* @{
* @file inv_mpu.h
* @brief An I2C-based driver for Invensense gyroscopes.
* @Details This driver currently works for the following devices:
* MPU6050
* MPU6500
* MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus)
* MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus)
*/
#ifndef _INV_MPU_H_
#define _INV_MPU_H_
#define INV_X_GYRO (0x40)
#define INV_Y_GYRO (0x20)
#define INV_Z_GYRO (0x10)
#define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO)
#define INV_XYZ_ACCEL (0x08)
#define INV_XYZ_COMPASS (0x01)
struct int_param_s {
#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430
void (*cb)(void);
unsigned short pin;
unsigned char lp_exit;
unsigned char active_low;
#elif defined EMPL_TARGET_UC3L0
unsigned long pin;
void (*cb)(volatile void*);
void *arg;
#endif
};
#define MPU_INT_STATUS_DATA_READY (0x0001)
#define MPU_INT_STATUS_DMP (0x0002)
#define MPU_INT_STATUS_PLL_READY (0x0004)
#define MPU_INT_STATUS_I2C_MST (0x0008)
#define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010)
#define MPU_INT_STATUS_ZMOT (0x0020)
#define MPU_INT_STATUS_MOT (0x0040)
#define MPU_INT_STATUS_FREE_FALL (0x0080)
#define MPU_INT_STATUS_DMP_0 (0x0100)
#define MPU_INT_STATUS_DMP_1 (0x0200)
#define MPU_INT_STATUS_DMP_2 (0x0400)
#define MPU_INT_STATUS_DMP_3 (0x0800)
#define MPU_INT_STATUS_DMP_4 (0x1000)
#define MPU_INT_STATUS_DMP_5 (0x2000)
/* Set up APIs */
int mpu_init(struct int_param_s *int_param);
int mpu_init_slave(void);
int mpu_set_bypass(unsigned char bypass_on);
/* Configuration APIs */
int mpu_lp_accel_mode(unsigned char rate);
int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time,
unsigned char lpa_freq);
int mpu_set_int_level(unsigned char active_low);
int mpu_set_int_latched(unsigned char enable);
int mpu_set_dmp_state(unsigned char enable);
int mpu_get_dmp_state(unsigned char *enabled);
int mpu_get_lpf(unsigned short *lpf);
int mpu_set_lpf(unsigned short lpf);
int mpu_get_gyro_fsr(unsigned short *fsr);
int mpu_set_gyro_fsr(unsigned short fsr);
int mpu_get_accel_fsr(unsigned char *fsr);
int mpu_set_accel_fsr(unsigned char fsr);
int mpu_get_compass_fsr(unsigned short *fsr);
int mpu_get_gyro_sens(float *sens);
int mpu_get_accel_sens(unsigned short *sens);
int mpu_get_sample_rate(unsigned short *rate);
int mpu_set_sample_rate(unsigned short rate);
int mpu_get_compass_sample_rate(unsigned short *rate);
int mpu_set_compass_sample_rate(unsigned short rate);
int mpu_get_fifo_config(unsigned char *sensors);
int mpu_configure_fifo(unsigned char sensors);
int mpu_get_power_state(unsigned char *power_on);
int mpu_set_sensors(unsigned char sensors);
int mpu_set_accel_bias(const long *accel_bias);
/* Data getter/setter APIs */
int mpu_get_gyro_reg(short *data, unsigned long *timestamp);
int mpu_get_accel_reg(short *data, unsigned long *timestamp);
int mpu_get_compass_reg(short *data, unsigned long *timestamp);
int mpu_get_temperature(long *data, unsigned long *timestamp);
int mpu_get_int_status(short *status);
int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp,
unsigned char *sensors, unsigned char *more);
int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
unsigned char *more);
int mpu_reset_fifo(void);
int mpu_write_mem(unsigned short mem_addr, unsigned short length,
unsigned char *data);
int mpu_read_mem(unsigned short mem_addr, unsigned short length,
unsigned char *data);
int mpu_load_firmware(unsigned short length, const unsigned char *firmware,
unsigned short start_addr, unsigned short sample_rate);
int mpu_reg_dump(void);
int mpu_read_reg(unsigned char reg, unsigned char *data);
int mpu_run_self_test(long *gyro, long *accel);
int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char));
#endif /* #ifndef _INV_MPU_H_ */
这个是inv_mpu.c这两个错误指向的是同一句话
mpu6050\inv_mpu.c(105): error: #35: #error directive: Gyro driver is missing the system layer implementations.
mpu6050\inv_mpu.c: #error Gyro driver is missing the system layer implementations.
inv_mpu.c太长了，就复制错误的这一段吧
#define log_i MPL_LOGI
#define log_e MPL_LOGE
/* UC3 is a 32-bit processor, so abs and labs are equivalent. */
#define labs abs
#define fabs(x) (((x)>0)?(x):-(x))
#else
#error Gyro driver is missing the system layer implementations. //错误指向的语句
#endif
#if ！defined MPU6050 && ！defined MPU9150 && ！defined MPU6500 && ！defined MPU9250
#error Which gyro are you using? Define MPUxxxx in your compiler options.
#endif
另外 mpu6050inv_mpu_dmp_motion_driver.c 和 inv_mpu.c 的错误是一致的，也这句话
这个移植里面应该还有需要改动的地方，而且这个是对应的是老的库，现在我的MDK是4.0的。但是不太清楚里面的改动要怎么改。
已经发过去了。
编译通过了，原来是我把inv_mpu_dmp_motion_driver.c 和 inv_mpu.c 弄错了，我把官方库里面的当成那个已经移植过的里面的，现在换回来就可以编译通过了。
麻烦大伙了，等有时间就把MPU6050班弄好试试。
已经好了，这个移植好的可以直接编译通过，是我把DMP的两个文件弄错了，吧没移植过给复制过去了
哎，慢慢研究吧