MPU6050初始化没问题，但是在MPU_DMP初始化的时候出现问题，返回值一直是10

年糕 · 发表于 2020-5-18 12:26:42

u8 mpu_dmp_init(void)
{
u8 res=0;
MPU_IIC_Init(); //3õê¼»ˉIIC×üÏß
if(mpu_init()==0) //3õê¼»ˉMPU6050
{
res=mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);//éèÖÃËùDèòaμÄ′«¸DÆ÷
if(res)return 1;
res=mpu_configure_fifo(INV_XYZ_GYRO|INV_XYZ_ACCEL);//éèÖÃFIFO
if(res)return 2;
res=mpu_set_sample_rate(DEFAULT_MPU_HZ); //éèÖÃ2éÑùÂê
if(res)return 3;
res=dmp_load_motion_driver_firmware(); //¼óÔØdmp1ì¼t
if(res)return 4;
res=dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));//éèÖÃíóÂYòÇ·½Ïò
if(res)return 5;
res=dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT|DMP_FEATURE_TAP| //éèÖÃdmp1|Äü
      DMP_FEATURE_ANDROID_ORIENT|DMP_FEATURE_SEND_RAW_ACCEL|DMP_FEATURE_SEND_CAL_GYRO|
      DMP_FEATURE_GYRO_CAL);
if(res)return 6;
res=dmp_set_fifo_rate(DEFAULT_MPU_HZ); //éèÖÃDMPêä3öËùÂê(×î′ó2»3¬1y200Hz)
if(res)return 7;
res=run_self_test(); //×Ô¼ì
if(res)return 8;
res=mpu_set_dmp_state(1); //ê1ÄüDMP
if(res)return 9;
}else return 10;
return 0;
}成功返回0，但是这里一直返回的是10.不知道是什么原因。求指点原子哥