51单片机使用 mpu6050DMP

DMP输出包结构(42字节)如下图：

 

DMP总结资料

 

代码如下：

/*****************************************************
	功能:	采集MPU6050 DMP 数据
	CPU:	STC89C54RD+
	晶震:	11.0592
	环境:	Keli2.0
	语言: c
	作者：XW1005
	来源：移植 Jeff Jrowberg 公开的程序。
	目的：
sda 或则scl 为高时是:释放总线
*****************************************************/
#include <reg52.h>
#include <intrins.h>
bit ack;	//应答标志位 0:ack 1：nak
sbit scl = P2^0;
sbit sda = P2^1;
unsigned char dmpdatas[42];	//DMP数据
#define	SlaveAddress	0xD0	//IIC写入时的地址字节数据，+1为读取
//#define SlaveAddress 0xae	//i2c测试地址
void SendByte(unsigned char dat);
unsigned char i2cread(unsigned char addr,unsigned char *Data);
unsigned char i2creads(unsigned char addr,unsigned char length,unsigned char *Data);
//以下的 firmware 及 config update 数据来自于 Jeff Jrowberg 公开的程序
code unsigned char dmpmemorydata[1929]={
 // bank 0, 256 bytes
    0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,
    0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,
    0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,
    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,
    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
    0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,
    0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,
    0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,
    0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,
    // bank 1, 256 bytes
    0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,
    0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,
    0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,
    0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,
    0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,
    // bank 2, 256 bytes
    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,
    0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    // bank 3, 256 bytes
    0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,
    0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,
    0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,
    0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,
    0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,
    0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,
    0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,
    0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,
    0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,
    0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,
    0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,
    0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,
    0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,
    0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,
    0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,
    0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,
    // bank 4, 256 bytes
    0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,
    0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,
    0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,
    0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,
    0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,
    0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,
    0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,
    0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,
    0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,
    0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,
    0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
    0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,
    0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,
    0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,
    0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,
    0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,
    // bank 5, 256 bytes
    0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,
    0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,
    0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,
    0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,
    0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,
    0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,
    0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,
    0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,
    0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,
    0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,
    0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,
    0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,
    0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,
    0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,
    0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,
    0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,
    // bank 6, 256 bytes
    0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,
    0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,
    0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,
    0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,
    0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,
    0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,
    0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,
    0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,
    0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,
    0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,
    0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,
    0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,
    0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,
    0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,
    0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,
    0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,
    // bank 7, 138 bytes (remainder)
    0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,
    0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,
    0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,
    0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,
    0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,
    0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,
    0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,
    0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,
    0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF
};
code unsigned char dmpcfgupddata[192] = {
//  dmp config 
//  BANK    OFFSET  LENGTH  [DATA]
    0x03,   0x7B,   0x03,   0x4C, 0xCD, 0x6C,         
    0x03,   0xAB,   0x03,   0x36, 0x56, 0x76,         
    0x00,   0x68,   0x04,   0x02, 0xCB, 0x47, 0xA2,   
    0x02,   0x18,   0x04,   0x00, 0x05, 0x8B, 0xC1,   
    0x01,   0x0C,   0x04,   0x00, 0x00, 0x00, 0x00,   
    0x03,   0x7F,   0x06,   0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97, 
    0x03,   0x89,   0x03,   0x26, 0x46, 0x66,         
    0x00,   0x6C,   0x02,   0x20, 0x00,               
    0x02,   0x40,   0x04,   0x00, 0x00, 0x00, 0x00,   
    0x02,   0x44,   0x04,   0x00, 0x00, 0x00, 0x00,   
    0x02,   0x48,   0x04,   0x00, 0x00, 0x00, 0x00,   
    0x02,   0x4C,   0x04,   0x00, 0x00, 0x00, 0x00,   
    0x02,   0x50,   0x04,   0x00, 0x00, 0x00, 0x00,   
    0x02,   0x54,   0x04,   0x00, 0x00, 0x00, 0x00,  
    0x02,   0x58,   0x04,   0x00, 0x00, 0x00, 0x00,  
    0x02,   0x5C,   0x04,   0x00, 0x00, 0x00, 0x00,  
    0x02,   0xBC,   0x04,   0x00, 0x00, 0x00, 0x00,   
    0x01,   0xEC,   0x04,   0x00, 0x00, 0x40, 0x00,  
    0x03,   0x7F,   0x06,   0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97,
    0x04,   0x02,   0x03,   0x0D, 0x35, 0x5D,         
    0x04,   0x09,   0x04,   0x87, 0x2D, 0x35, 0x3D,   
    0x00,   0xA3,   0x01,   0x00,                    
    0x00,   0x00,   0x00,   0x01, 	//这里是开启DMP的特殊中断的
    //原程序中此行代码为(这里不一定错)
    //0x00,   0x00,   0x00,   0x01,  即LENGTH=0x00，有错
        
    0x07,   0x86,   0x01,   0xFE,                     
    0x07,   0x41,   0x05,   0xF1, 0x20, 0x28, 0x30, 0x38, 
    0x07,   0x7E,   0x01,   0x30,                   
    0x07,   0x46,   0x01,   0x9A,                    
    0x07,   0x47,   0x04,   0xF1, 0x28, 0x30, 0x38,   
    0x07,   0x6C,   0x04,   0xF1, 0x28, 0x30, 0x38,  
    0x02,   0x16,   0x02,   0x00, 0x01,              
/* 上行最后一个数据调整FIFO rate :0x01=100HZ,0x02=66HZ,0x03=50HZ ,0x04=40HZ,0x05=33.33HZ, 
// 可从 datasheet 公式推算
//dmp updates
    0x01,   0xB2,   0x02,   0xFF, 0xFF,
    0x01,   0x90,   0x04,   0x09, 0x23, 0xA1, 0x35,
    0x01,   0x6A,   0x02,   0x06, 0x00,
    0x01,   0x60,   0x08,   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00,   0x60,   0x04,   0x40, 0x00, 0x00, 0x00,
    0x01,   0x62,   0x02,   0x00, 0x00,
    0x00,   0x60,   0x04,   0x00, 0x40, 0x00, 0x00*/
};
code unsigned char dmpUpdates[47]={
	
    0x01,   0xB2,   0x02,   0xFF, 0xFF,
    0x01,   0x90,   0x04,   0x09, 0x23, 0xA1, 0x35,
    0x01,   0x6A,   0x02,   0x06, 0x00,
    0x01,   0x60,   0x08,   0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00,   0x60,   0x04,   0x40, 0x00, 0x00, 0x00,
    0x01,   0x62,   0x02,   0x00, 0x00,
    0x00,   0x60,   0x04,   0x00, 0x40, 0x00, 0x00
    
};
void DelayUs2x(unsigned char t)	//延时1
{   
 while(--t);
}

void DelayMs(unsigned char t)	//延时2
{
     
 while(t--)
 {
     //大致延时1mS
     DelayUs2x(245);
	 DelayUs2x(245);
 }
}

/*i2c基本协议*/
/*i2c基本协议*/
void i2_qs(void)	//启始信号
{
	sda = 1;
	scl = 1;
	_nop_();
	sda = 0;
	_nop_();_nop_();
	_nop_();_nop_();
	scl = 0;
}

void i2_tz()	//停止信号
{
	sda = 0;
	scl = 1;
	_nop_();_nop_();
	_nop_();_nop_();
	sda = 1;
	_nop_();
}
void i2_fs(unsigned char Data)	//发送8位数据
{
	unsigned char i=0;
	for(;i<8;i++)
	{
		Data <<= 1;
		sda = CY;
		scl = 1;
		_nop_();_nop_();
		_nop_();_nop_();
		scl = 0;
		
	}
	//下面是接收从设备发回的应答信号
	sda = 1;
	scl = 1;
	_nop_();_nop_();
	_nop_();_nop_();
	ack = sda;	//接收设备的ack	_n
	scl = 0;
	sda = 1;
}

unsigned char i2_js(bit _ack)	//接收8位数据
{
	unsigned char i = 0,Data = 0;
	for(;i<8;i++)
	{
		Data <<= 1;
		scl = 1;
		_nop_();_nop_();
		_nop_();_nop_();
		Data |= sda;	//接收数据
		scl = 0;
		_nop_();
	}
	//下面时主控器发送ACK或则NAK
	sda = _ack;	//ack或者nak
	scl = 1;	//拉高时钟产生第9个时钟
	_nop_();_nop_();
	_nop_();_nop_();
	scl = 0;	//拉底时钟
	sda = 1;	//释放总线
	_nop_();
	return Data;
}
/*i2c协议基本*/

/*写入8位寄存器一个字节
  参数 addr 寄存器地址
  参数 Data 写入数据
  返回值 (1=成功,0=失败)
*/
unsigned char i2cwrite(unsigned char addr,unsigned char Data)	//写入8位有效数据
{
	i2_qs();	//起始信号
	i2_fs(SlaveAddress);	//设备地址+写信号
	if(ack) return 0;	//判断是否是ACK如果不是返回0
	i2_fs(addr);	//设备内部地址
	if(ack) return 0;
	i2_fs(Data);	//写入的数据
	if(ack) return 0;
	i2_tz();	//停止信号
	return 1;
}
/*读取8位寄存器一个字节
  参数 addr 寄存器地址
  参数 *Data 数据存储地址
  返回值 (1=成功,0=失败)
*/
unsigned char i2cread(unsigned char addr,unsigned char *Data)	
{
	/*unsigned char Data1;
	i2_qs();	//起始信号
	i2_fs(SlaveAddress);	//设备地址+写信号
	SendByte(ack);
	i2_fs(addr);	//设备内部地址
	i2_qs();	//起始信号
	i2_fs(SlaveAddress+1);	//设备地址+读信号
	*Data = i2_js(1);	//读取数据
	i2_tz();	//停止信号*/
	return i2creads(addr,1,Data);
}
/*读取8位寄存器多个字节
 * @参数 addr    I2C从器件内部地址
 * @参数 length  写入数据长度    
 * @参数 Data    保存数据的地址      
 * @返回值 返回状态 (1=成功)
 */
unsigned char i2creads(unsigned char addr,unsigned char length,unsigned char *Data)
{
		unsigned char i;
		length --;
		i2_qs();	//起始信号
		i2_fs(SlaveAddress);	//设备地址+写信号
		if(ack) return 0;
		i2_fs(addr);	//设备内部地址
		if(ack) return 0;
		i2_qs();	//起始信号
		i2_fs(SlaveAddress+1);	//设备地址+读信号
		if(ack) return 0;
		for(i=0;i<length;i++)
		{
			Data[i]= i2_js(0);	//读取数据,发送ACK
		}
		Data[length] = i2_js(1);//读取数据,发送NAK
		i2_tz();	//停止信号
		return 1;
}

/**写入8位寄存器的一个位。
 * @参数 addr    I2C从器件内部地址
 * @参数 bitNum  写入的比特位(0-7)     
 * @参数 data    写入数据      
 * @返回值 返回状态 (1=成功)
 */
unsigned char writeBit(unsigned char addr,unsigned char bitNum,unsigned char Data)
{
	unsigned char b;
	if (i2cread(addr,&b))
		{
			b = (Data != 0) ? (b | (1 << bitNum)):(b & ~(1 << bitNum)); 
			return i2cwrite(addr,b);	//写入数据
		}
	else
		return 0;
}
/**写入8位寄存器的多个位。  
 * @参数 addr     I2C从器件内部地址
 * @参数 bitStart 第一位的写入位置（0-7）
 * @参数 length   写的比特数(不超过8)
 * @参数 Data     写入数据
 * @返回值 返回状态 (1=成功)
 */
unsigned char writeBits(unsigned char addr,unsigned char bitStart,unsigned char length,unsigned char Data)
{
		//      010 要写入的值
    // 76543210 比特位
    //    xxx   args: bitStart=4, length=3
    // 00011100 掩码字节
    // 10101111 原始值（样本）
    // 10100011 原始值 & ~掩码
    // 10101011 掩码 | 原始值
	unsigned char b,mask=0;
	if (i2cread(addr,&b))
	{
		mask = (((1<<length) - 1) << (bitStart-length + 1));	//掩码
		Data <<=(bitStart - length + 1);	//把写入的数据移动到位
		Data &= mask;
		b &= ~(mask);
		b |= Data;
		i2cwrite(addr,b);	//写入数据
		return 1;
	}
	else
		return 0;
}
/**读取一个位从8位器件的寄存器。  
* @参数 addr    I2C从器件内部地址
* @参数 bitNum  位的位置来读取（0-7） 
* @参数 *data   数据存储地址  
* @返回值（1=成功） 
*/
unsigned char readBit(unsigned char addr,unsigned char bitNum,unsigned char *Data)
{
	unsigned char b;
	if(i2cread(addr,&b))
	{
		*Data = b & (1 << bitNum);
		return 1;
	}
	else
	{
		return 0;
	}
}
/**读取8位寄存器的多个位。 
* @参数 addr    I2C从器件内部地址 
* @参数 bitStart第一位的位置读取（0-7） 
* @参数 length  位读取@参数长度数（不超过8） 
* @参数 *data   数据存储地址（即'101'任何bitStart位置读取将等于0X05） 
* @返回值（1=成功） 
*/
unsigned char readBits(unsigned char addr,unsigned char bitStart,unsigned char length,unsigned char *Data)
{
		// 01101001 读取字节
    // 76543210 比特位
    //    xxx   args: bitStart=4, length=3
    //    010   masked
    //   -> 010 shifted
	unsigned char b,mask=0;
	if(i2cread(addr,&b))
	{
		
		mask = ((1 << length) - 1) << (bitStart - length + 1);
		b &= mask;
		b >>= (bitStart - length + 1);
		*Data = b;
		return 1;
	}
	else
		return 0;
}


/*void init6050()	//初始化 6050
{
  i2cwrite(0x6b,0x80);        									//电源管理（0x00 正常启用）                  
  
  i2cwrite(0x6b ,0x01);                          //No sleep  , 3 PLL with X axis gyroscope reference电源管理
  DelayMs(200);
  i2cwrite(0x23 ,0x00);                          //FIFO 11111000 ,temp,gx,gy,gz,accel？
  i2cwrite(0x19 ,0x05);                          //陀螺仪采样率
  i2cwrite(0x1a ,0x03);                          //低通滤波
  i2cwrite(0x1b ,0x18);                          //陀螺仪自检，量程范围 2000 /s
  i2cwrite(0x1c ,0x00);                          //加速计自检，量程范围及 高通滤波频率	+-2g/s
} 
 */
 
 /*
   加载 DMP代码到
   返回值  (1=成功,0=失败)
 */
unsigned char loadfirmware(void)	
{
  unsigned int datanum=0;	//DMP固件写入标志位
  unsigned char ye,i,j;
  unsigned char bank=0;	//段（256个数据一段）
  unsigned char addr=0;	

	for(;bank<8;bank++)
	{
		if(bank == 7)	//这里的作用就是区分最后一段数据
			i = 8;
		else
			i = 16;
		for(ye=0;ye<i;ye++)
		{
			i2cwrite(0x6d,bank);
			i2cwrite(0x6e,addr);
			i2_qs();	//起始信号
			i2_fs(SlaveAddress);	//设备地址+写信号
			i2_fs(0x6f);	//设备内部地址
			for(j=0;j<16;j++)
			{
				i2_fs(dmpmemorydata[datanum++]);	//写入DMP的数据
				if(ack) return 0; 
			}
			addr += 16;
			i2_tz();	//停止信号
		}
	}
	i2cwrite(0x6d,7);
	i2cwrite(0x6e,addr);
	i2_qs();	//起始信号
	i2_fs(SlaveAddress);	//设备地址+写信号
	i2_fs(0x6f);	//设备内部地址
	for(i=0;i<9;i++)
	{
		i2_fs(dmpmemorydata[datanum++]);	//写入DMP的数据
		if(ack) return 0;
	}
	i2_tz();	//停止信号
	return 1;
}
unsigned char loadcfgupd(void)	//DMP设置
{
  unsigned char line;	//一共需要写入30条设置数据
  unsigned char bank;	//页
  unsigned char datacounts=0;	//DMP设置数据标志位
  unsigned char bytes2write;	//数据长度。
  unsigned char offset;	//偏移地址
  unsigned char writingcounts;	//数据写入标志与bytes2write一同使用
  unsigned char special;
     
  for (line=0;line<30;line++)
  {
  	bank=dmpcfgupddata[datacounts++];
  	offset=dmpcfgupddata[datacounts++];
  	bytes2write=dmpcfgupddata[datacounts++];
  	i2cwrite(0x6d,bank);
  	i2cwrite(0x6e,offset);
  	i2_qs();	//起始信号
		i2_fs(SlaveAddress);	//设备地址+写信号
		i2_fs(0x6f);	//设备内部地址
  	for(writingcounts=0;writingcounts<bytes2write;writingcounts++)
  	{
  		i2_fs(dmpcfgupddata[datacounts++]);	//写入DMP配置数据
			if(ack) return 0;
  	}
  	if(0 == bytes2write)
  	{
  		special=dmpcfgupddata[datacounts++];
  		if(0x01 == special)
  			{
  				//设置零运动中断启用（真）;
          //设置FIFO缓冲区溢出启用（真）;
          //设置DMP启用（真）;
  				i2cwrite(0x38,0x32);
  			}
  		else
  			return 0;
  	}
  }
  i2_tz();	//停止信号
	return 1;
}
/*最后更新DMP*/
unsigned char xdmpUpdates(unsigned char datacounts)
{
	unsigned char writingcounts,bank,offset,bytes2write;
	bank=dmpUpdates[datacounts++];
  offset=dmpUpdates[datacounts++];
  bytes2write=dmpUpdates[datacounts++];
  i2cwrite(0x6d,bank);
  i2cwrite(0x6e,offset);
  i2_qs();	//起始信号
	i2_fs(SlaveAddress);	//设备地址+写信号
	i2_fs(0x6f);	//设备内部地址
	for(writingcounts=0;writingcounts<bytes2write;writingcounts++)
  	{
  		i2_fs(dmpUpdates[datacounts++]);	//写入DMP配置数据
			if(ack) return 0;
  	}
  	i2_tz();	//停止信号
  	return 0;
}
/*读取 FIFO 计数*/
unsigned int getFIFOCount()
{
	unsigned char i[2];
	i2creads(0x72,2,i);
	return ((i[0]<<8)+i[1]);
}
/*FIFO数据读取
参数 *Data	存储数据的地址
返回值 (1=读取成功,0读取失败)
*/
unsigned char readdmp(unsigned char *Data)
{
  return i2creads(0x74,42,Data);
}
	
//加载并配置 DMP 数字运动处理引擎
unsigned char dmpInitialize(void)
{
	unsigned char hwRevision,otpValid,mpuIntStatus/*fifoBuffer[128]*/;
	unsigned char xgOffsetTC,ygOffsetTC,zgOffsetTC;
	unsigned int fifoCount;
	writeBit(0x6B,7,1);	//复位 MPU6050
	DelayMs(30);
	writeBit(0x6B,6,0);	//禁止睡眠模式
	i2cwrite(0x6D,0x70);	//写入一个字节数据到0x6d寄存器(选择用户 bank)
	i2cwrite(0x6E,0x06);	//写入一个字节数据到0x6e寄存器(选择存储字节)
	i2cread(0x6F,&hwRevision);	//读取
	i2cwrite(0x6D,0);	//重置内存 bank 选择
	readBit(0x00,0,&otpValid);	//读取 OTP bank 有效标志
	readBits(0x00,6,6,&xgOffsetTC);	//读陀螺偏置TC值 X
	readBits(0x01,6,6,&ygOffsetTC);	//读陀螺偏置TC值 Y)
	readBits(0x02,6,6,&zgOffsetTC);	//读陀螺偏置TC值 Z
	i2cwrite(0x25,0x7f);	//设置从0地址 0x7
	writeBit(0x6A,5,0);	//禁用I2C主模式
	i2cwrite(0x25,0x68);	//这里可能要改。还没有弄明白这里
	writeBit(0x6A,1,1);	//I2C总线主控复位
	DelayMs(20);
	if((loadfirmware()) == 0 ) return 0;	//加载 DMP代码到内存
	if((loadcfgupd()) == 0 ) return 0;	//配制DMP
	writeBits(0x6B,2,3,0x03);	//设置时钟脉冲源Z陀螺
	i2cwrite(0x38,0x12);	//设置DMP和FIFO_OFLOW启用中断
	i2cwrite(0x19,4);	//设置采样率为200 hz  (1khz / (1 + 4) = 200 Hz)
	writeBits(0x1A,5,3,0x1);	//设置外部帧同步TEMP_OUT_L[0]
	writeBits(0x1A,2,3,0x03);	//设置DLPF带宽42赫兹
	writeBits(0x1B,4,2,0x03);	//陀螺灵敏度设置为+ / - 2000 deg/sec
	i2cwrite(0x70,0x03);	//设置DMP配置字节（功能未知）
	i2cwrite(0x71,0x00);	//设置DMP配置字节（功能未知）
	writeBit(0x00,0,0);	//清除OTP Bank 标志
	writeBits(0x00,6,6,xgOffsetTC);	//设置X 陀螺抵消TCs之前的值
	writeBits(0x01,6,6,ygOffsetTC);	//设置Y 陀螺抵消TCs之前的值
	writeBits(0x02,6,6,zgOffsetTC);	//设置Z 陀螺抵消TCs之前的值
	xdmpUpdates(0);	//最后更新1/7(函数未知)dmpUpdates数组第一行
	xdmpUpdates(5);	//最后更新2/7(函数未知)dmpUpdates数组第二行
	writeBit(0x6A,2,1);	//复位 FIFO
	fifoCount = getFIFOCount();	//读取 FIFO 计数
	//readdmp(fifoCount,fifoBuffer);	//读取FIFO里的数据
	writeBit(0x6A,2,1);	//复位 FIFO
	
	i2cwrite(0x1F,2);	//运动检测阈值设置为2
	i2cwrite(0x21,156);	//零运动检测阈值为156
	i2cwrite(0x20,80);	//设置运动检测持续时间至80
	i2cwrite(0x22,0);	//设置零运动检测时间0
	writeBit(0x6A,2,1);	//复位 FIFO
	writeBit(0x6A,6,1);	//使能 FIFO
	writeBit(0x6A,7,1);	//使能 DMP
	writeBit(0x6A,3,1);	//复位 DMP
	xdmpUpdates(12);	//最后更新3/7(函数未知)dmpUpdates数组第三行
	xdmpUpdates(17);	//最后更新4/7(函数未知)dmpUpdates数组第四行
	xdmpUpdates(28);	//最后更新5/7(函数未知)dmpUpdates数组第五行
	while((fifoCount = getFIFOCount()) < 3);	//等待 FIFO 计数 > 2
	writeBit(0x6A,2,1);	//复位 FIFO
	//readdmp(fifoCount,fifoBuffer);	//读取FIFO里的数据
	i2cread(0x3A,&mpuIntStatus);	//读取中断状态
	xdmpUpdates(35);	//最后更新6/7(函数未知)dmpUpdates数组第六行
	while((fifoCount = getFIFOCount()) < 3);	//等待 FIFO 计数 > 2
	writeBit(0x6A,2,1);	//复位 FIFO
	//readdmp(fifoCount,fifoBuffer);	//读取FIFO里的数据
	i2cread(0x3A,&mpuIntStatus);	//读取中断状态
	xdmpUpdates(40);	//最后更新7/7(函数未知)dmpUpdates数组第七行
	writeBit(0x6A,7,0);	//禁用DMP(稍后您打开它)
	writeBit(0x6A,2,1);	//复位 FIFO
	i2cread(0x3A,&mpuIntStatus);
	//星期六 (2014/06/28)
	return 1;
}
/*初始化MPU6050*/
void initMPU6050(void)
{
	writeBits (0x6B,2,3,0x01);	//电源管理
	writeBits (0x1B,4,2,0x00);	//设置陀螺仪量程 250/s
	writeBits (0x1C,4,2,0x00);	//设置加速度量程 2G
	writeBit (0x6B,6,1);	//电源管理MUP进入睡眠模式
}
/*验证MPU6050连接*/
unsigned char getDeviceID(void)
{
	unsigned char b=0;	//临时变量
	readBits(0x75,6,6,&b);	//读取i2c固定地址，去掉最高位和最低位这两位数据
	return b == 0x34;	//判断B是否等于0x34，如果等于返回1，不等于返回0(库的是0x38)
	
}
/**************************************串口**********************************/
void CSH  (void) //初始化串口
{

    SCON  = 0x50;		        // SCON: 模式 1, 8-bit UART, 使能接收  
    TMOD |= 0x20;               // TMOD: timer 1, mode 2, 8-bit 重装
    TH1   = 0xFD;               // TH1:  重装值 9600 波特率 晶振 11.0592MHz  
    TR1   = 1;                  // TR1:  timer 1 打开                         
    EA    = 1;                  //打开总中断
    //ES    = 1;                  //打开串口中断
}
void SendByte(unsigned char dat) //发送一个字符
{
 SBUF = dat; //SBUF 串行数据缓冲器
 while(!TI);  //TI发送中断标志位 (当数据发送完毕后由硬件置 1 否则等待硬件置 1)
      TI = 0; 
}
/************************************************************************************/

void main(void)
{
	unsigned char zd,i;
	CSH();	//初始化串口
	initMPU6050();	//初始化
	if (getDeviceID())	//验证连接是否正常(读取MPU6050的I2C地址)
	{
		if(!(dmpInitialize()))	//加载并配置运动库
			while(1);
			
	}
	writeBit(0x6A,2,1);	//复位 FIFO
	writeBit(0x6A,7,1);	//使能DMP
while(1)
 {
 	i=getFIFOCount();//读取FIFO计数
 	i2cread(0x3A,&zd);	//读取中断状态
 	if((zd & 0x10)||i==1024)	//判断FIFO是否溢出
 	{
    	writeBit(0x6A,2,1);	//复位 FIFO
	}
	else if (zd & 0x02)
	{
    	while(i<42) i=getFIFOCount();
		readdmp(dmpdatas);	//读取FIFO数据(四元数+其他的数据)
		SendByte(dmpdatas[0]);
		SendByte(dmpdatas[1]);
	        SendByte(dmpdatas[4]); 
		SendByte(dmpdatas[5]);
		SendByte(dmpdatas[8]);
		SendByte(dmpdatas[9]);
		SendByte(dmpdatas[12]);
		SendByte(dmpdatas[13]);
	}

 }
}

 

注：使用此代码获取的四元数数据是16bit的整型数据。

 

DMP总结资料