STM32 DMP Driver

Implemented with HAL Lib.

Notice that I have ported two version of DMP driver, one in the master branch from TI implementation, another from Arduino I2Cdev. I recommend the I2Cdev one for a more completed featured and better code organization, with the cost of binary size.

Hardware I2C

1. Put ./Source/MPU6050 into your source folder, say, 'src' and place ./Include/MPU6050 into your header folder. ATTENTION: Keep header files in MPU6050 folder under your include path.
2. Modify ./Include/MPU6050/I2C.h to meet your need.

   • Redefine hi2cMPU6050 to the I2C_HandleTypeDef object which communicates with MPU6050.

   • Decide which HAL header files to use. For STM32F4 user:

     #include <stm32f4xx_hal_def.h>
     #include <stm32f4xx_hal_conf.h>
     #include "stm32f4xx_hal.h"

   • Enable or disable "diag/Trace.h".

Software I2c

Cpp Class Inherited From I2CDev