i2c_write(unsigned char slave_addr, unsigned char reg_addr,unsigned char length, unsigned char const *data)//i2c写入函数，要求至少能连续写入16字节数据
i2c_read(unsigned char slave_addr, unsigned char reg_addr,unsigned char length, unsigned char *data)//i2c读取函数，要求至少能连续读取16字节数据
delay_ms(unsigned long num_ms)//延时函数
get_ms(unsigned long *count)//一般用不到这个函数

//宏定义位于myiic.h#define u8 uint8_t   //正点原子的模拟IIC使用了数据类型u8，该类型在RL78/G13中对应的类型为uint8_t
#define SDA_IN()  PM7.5=1   //管脚7.5使用为SDA口，PM为端口配置寄存器，该位为1时输入，为0时输出
#define SDA_OUT() PM7.5=0#define SCL_IN()  PM7.6=1  //管脚7.6使用为SCL口
#define SCL_OUT() PM7.6=0#define IIC_SCL    P7.6 //P为端口输出寄存器
#define IIC_SDA    P7.5
#define READ_SDA   P7.5 //IIC初始化函数位于myiic.c，删去了大量代码，因为RL78/G13的管脚配置可以通过代码生成器直接完成，不用手动配置void IIC_Init(void)
{            SDA_OUT();SCL_OUT();IIC_SCL=1;IIC_SDA=1;
}

//CS+没有提供官方延时函数，因此需要自定义//首先用代码生成器生成一个1ms的定时中断

unsigned long systemtime;//定义全局变量//在定时器中断函数中添加 systemtime++;，该函数位于r_cg_timer_user.c
__interrupt static void r_tau0_channel3_interrupt(void)
{/* Start user code. Do not edit comment generated here */systemtime++;/* End user code. Do not edit comment generated here */
}//定义delay_ms
void delay_ms(unsigned long num_ms){unsigned long now=systemtime;while((systemtime-now)<num_ms){NOP();}
}//定义delay_us，该函数由网友提供，据称完成整个调用刚好1us，我没有实测过，但是可以使用
void delay_us(void)
{unsigned char n;n = 1;for(; n>0; n--);
}//定义完成后，需要将myiic.c和mpu6050.c文件中的所有delay(x)修改为x个delay()，如：
void IIC_Stop(void)
{SDA_OUT();IIC_SCL=0;IIC_SDA=0;delay_us();delay_us();delay_us();delay_us();//原为delay_us(4)IIC_SCL=1; IIC_SDA=1;delay_us();delay_us();delay_us();delay_us();
}//最后在inv_mpu.c和inv_mpu_dmp_motion_driver.c中添加包含delay_ms函数所在的头文件

//首先注释掉#include <stdint.h>，该代码同时位于inv_mpu.c和inv_mpu_dmp_motion_driver.c，头文件stdint.h提供了几个数据类型，但其中定义了64位的int型，而RL78/G13支持的数据类型最高位为32位，不注释掉将无法通过编译//然后添加包含文件
#include "mpu6050.h"//在inv_mpu.c中添加如下宏定义
#define MPU6050    //define used sensor 6050
#define MOTION_DRIVER_TARGET_GL78G13 //define used MCU GL78/G13
#define EMPL_NO_64BIT //在inv_mpu_dmp_motion_driver.c添加如下宏定义
#define MOTION_DRIVER_TARGET_GL78G13
#define EMPL_NO_64BIT //修改如下代码（inv_mpu.c）
#if defined MOTION_DRIVER_TARGET_MSP430
#include "msp430.h"
#include "msp430_i2c.h"
#include "msp430_clock.h"
#include "msp430_interrupt.h"
#define i2c_write   msp430_i2c_write
#define i2c_read    msp430_i2c_read
#define delay_ms    msp430_delay_ms
#define get_ms      msp430_get_clock_ms
//修改为：
#if defined MOTION_DRIVER_TARGET_GL78G13
#define i2c_write   MPU_Write_Len
#define i2c_read    MPU_Read_Len
#define delay_ms    delay_ms//该行可注释掉，编译时会警告
#define get_ms      mget_ms//修改如下代码（inv_mpu_dmp_motion_driver.c）
#if defined MOTION_DRIVER_TARGET_MSP430
#include "msp430.h"
#include "msp430_clock.h"
#define delay_ms    msp430_delay_ms
#define get_ms      msp430_get_clock_ms
#define log_i(...)     do {} while (0)
#define log_e(...)     do {} while (0)
//为：
#if defined MOTION_DRIVER_TARGET_GL78G13
#define delay_ms    delay_ms
#define get_ms          mget_ms
#define log_i           ;
#define log_e          ;//找到如下结构体定义，注释掉unsigned char accel_cfg2;unsigned char lp_accel_odr;unsigned char accel_intel;三个成员变量，这三个值会引起数据飘逸，导致DMP初始化无法通过
struct gyro_reg_s {unsigned char who_am_i;unsigned char rate_div;unsigned char lpf;unsigned char prod_id;unsigned char user_ctrl;unsigned char fifo_en;unsigned char gyro_cfg;unsigned char accel_cfg;//unsigned char accel_cfg2;//unsigned char lp_accel_odr;unsigned char motion_thr;unsigned char motion_dur;unsigned char fifo_count_h;unsigned char fifo_r_w;unsigned char raw_gyro;unsigned char raw_accel;unsigned char temp;unsigned char int_enable;unsigned char dmp_int_status;unsigned char int_status;// unsigned char accel_intel;unsigned char pwr_mgmt_1;unsigned char pwr_mgmt_2;unsigned char int_pin_cfg;unsigned char mem_r_w;unsigned char accel_offs;unsigned char i2c_mst;unsigned char bank_sel;unsigned char mem_start_addr;unsigned char prgm_start_h;
#if defined AK89xx_SECONDARYunsigned char s0_addr;unsigned char s0_reg;unsigned char s0_ctrl;unsigned char s1_addr;unsigned char s1_reg;unsigned char s1_ctrl;unsigned char s4_ctrl;unsigned char s0_do;unsigned char s1_do;unsigned char i2c_delay_ctrl;unsigned char raw_compass;/* The I2C_MST_VDDIO bit is in this register. */unsigned char yg_offs_tc;
#endif
};//结构体实例化一律将：
const struct gyro_reg_s reg = {.who_am_i       = 0x75,.rate_div       = 0x19,.lpf            = 0x1A,.prod_id        = 0x0C,.user_ctrl      = 0x6A,.fifo_en        = 0x23,.gyro_cfg       = 0x1B,.accel_cfg      = 0x1C,.motion_thr     = 0x1F,.motion_dur     = 0x20,.fifo_count_h   = 0x72,.fifo_r_w       = 0x74,.raw_gyro       = 0x43,.raw_accel      = 0x3B,.temp           = 0x41,.int_enable     = 0x38,.dmp_int_status = 0x39,.int_status     = 0x3A,.pwr_mgmt_1     = 0x6B,.pwr_mgmt_2     = 0x6C,.int_pin_cfg    = 0x37,.mem_r_w        = 0x6F,.accel_offs     = 0x06,.i2c_mst        = 0x24,.bank_sel       = 0x6D,.mem_start_addr = 0x6E,.prgm_start_h   = 0x70
#ifdef AK89xx_SECONDARY,.raw_compass   = 0x49,.yg_offs_tc     = 0x01,.s0_addr        = 0x25,.s0_reg         = 0x26,.s0_ctrl        = 0x27,.s1_addr        = 0x28,.s1_reg         = 0x29,.s1_ctrl        = 0x2A,.s4_ctrl        = 0x34,.s0_do          = 0x63,.s1_do          = 0x64,.i2c_delay_ctrl = 0x67
#endif
};
//此种形式的修改为如下形式：（CS+编译器不支持该c特性）
const struct gyro_reg_s reg = {0x75,0x19,0x1A,0x0C,0x6A,0x23,0x1B,0x1C,0x1F,0x20,0x72,0x74,0x43,0x3B,0x41,0x38,0x39,0x3A,0x6B,0x6C,0x37,0x6F,0x06,0x24,0x6D,0x6E,0x70
/*#ifdef AK89xx_SECONDARY0x49,0x01,0x25,0x26,0x27,0x28,0x29,0x2A,0x34,0x63,0x64,0x67
#endif*/
};//同时在结构体 gyro_reg_s实例化的地方注释掉相应的值
const struct gyro_reg_s reg = {0x75,0x19,0x1A,0x0C,0x6A,0x23,0x1B,0x1C,// 0x1D,// 0x1E,0x1F,0x20,0x72,0x74,0x43,0x3B,0x41,0x38,0x39,0x3A,//0x69,0x6B,0x6C,0x37,0x6F,0x77,0x24,0x6D,0x6E,0x70
/*#ifdef AK89xx_SECONDARYraw_compass   = 0x49,s0_addr        = 0x25,s0_reg         = 0x26,s0_ctrl        = 0x27,s1_addr        = 0x28,s1_reg         = 0x29,s1_ctrl        = 0x2A,s4_ctrl        = 0x34,s0_do          = 0x63,s1_do          = 0x64,i2c_delay_ctrl = 0x67
#endif*/
};//找到inv_mpu_dmp_motion_driver.c中的
int dmp_set_accel_bias(long *bias)
{long accel_bias_body[3];unsigned char regs[12];long long accel_sf;//将long long 修改为long，原因为RL78/G13不支持64位数据类型，修改为long后不会影响精度
   ……
}//找到inv_mpu.c中的：
int mpu_read_fifo_stream(unsigned short length, unsigned char *data,unsigned char *more)
{unsigned char tmp[2];unsigned short fifo_count;if (!st.chip_cfg.dmp_on)return -1;if (!st.chip_cfg.sensors)return -1;if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp))return -1;//fifo_count = (tmp[0] << 8) | tmp[1];//将该行语句修改为下面三行，原因为CS+不会自动将tmp[]数组转换为16位数据类型，需要手动转换fifo_count=tmp[0];fifo_count=fifo_count<<8;fifo_count|=tmp[1];……
}//然后在inv_mpu.c中添加以下代码，以方便调用
#define q30  1073741824.0fint mget_ms(unsigned long *time)
{return 0;
}static signed char gyro_orientation[9] = { 1, 0, 0,0, 1, 0,0, 0, 1};unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx)
{unsigned short scalar; /*XYZ  010_001_000 Identity MatrixXZY  001_010_000YXZ  010_000_001YZX  000_010_001ZXY  001_000_010ZYX  000_001_010*/scalar = inv_row_2_scale(mtx);scalar |= inv_row_2_scale(mtx + 3) << 3;scalar |= inv_row_2_scale(mtx + 6) << 6;return scalar;
}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;elseb = 7;      // errorreturn b;
}uint8_t mpu_dmp_init(void)
{uint8_t res=0;long gyro[3], accel[3]; if(mpu_init()==0)    {     res=mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);if(res)return 1; res=mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL);if(res)return 2; res=mpu_set_sample_rate(DEFAULT_MPU_HZ);    if(res)return 3; res=dmp_load_motion_driver_firmware();        if(res)return 4; res=dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));if(res)return 5; res=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);if(res)return 6; res=dmp_set_fifo_rate(DEFAULT_MPU_HZ);    if(res)return 7;   res=mpu_run_self_test(gyro, accel);        if(res==0x3)return 8;    res=mpu_set_dmp_state(1);    if(res)return 9;   return 0;}else{return 10;}
}uint8_t mpu_dmp_get_data(float *pitch,float *roll,float *yaw)
{float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;unsigned long sensor_timestamp;short gyro[3], accel[3], sensors;unsigned char more;long quat[4]; if(dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors,&more))return 1;     /* Gyro and accel data are written to the FIFO by the DMP in chip frame and hardware units.* This behavior is convenient because it keeps the gyro and accel outputs of dmp_read_fifo and mpu_read_fifo consistent.**//*if (sensors & INV_XYZ_GYRO )send_packet(PACKET_TYPE_GYRO, gyro);if (sensors & INV_XYZ_ACCEL)send_packet(PACKET_TYPE_ACCEL, accel); *//* Unlike gyro and accel, quaternions are written to the FIFO in the body frame, q30.* The orientation is set by the scalar passed to dmp_set_orientation during initialization. **/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;    // pitch*roll  = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3;    // roll*yaw   = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;    //yaw}else return 2;return 0;
}

//头文件包含
#include "mpu6050.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"//MPU6050初始化
MPU_Init();//DMP初始化while(mpu_dmp_init()){//mpu_dmp_init()初始化成功将返回0
        NOP();
}//获取俯仰角，横滚角以及偏航角
if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0){//成功获取偏航角返回0,建议成功获取数据后再开始相关操作
  ……
}//其他库函数使用请参照DMP官方手册