File content as of revision 1:620da20b810b:

#include "JJ_MPU6050_DMP_6Axis.h"  // 与DMP工作库的修改版本（见注释内）typedef enum 

#define I2C_SPEED 400000L //I2C速度

MPU6050 mpu;
bool dmpReady = false;
uint16_t packetSize;

bool dmpSetup()
{
#if 0
    Wire.begin();
    TWSR = 0;
    TWBR = ((16000000L / I2C_SPEED) - 16) / 2;
    TWCR = 1 << TWEN;
#endif

    mpu.initialize();
    if(mpu.dmpInitialize() == 0) {
        mpu.setDMPEnabled(true);
        dmpReady = true;
        packetSize = mpu.dmpGetFIFOPacketSize();
    } else {
        dmpReady = false;
    }
    return dmpReady;
}
#define PI 3.1415926
uint8_t dmpGetYPR(float *_ypr)
{
    Quaternion q;
    VectorFloat gravity;
    uint8_t fifoBuffer[18];
    if(!dmpReady)
        return 0;

    if(mpu.getFIFOCount() == 1024) {
        mpu.resetFIFO();
    } else {
        while(mpu.getFIFOCount() < packetSize);
        mpu.getFIFOBytes(fifoBuffer, packetSize);
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(_ypr, &q, &gravity);
        for(int i=0; i<3; i++) {
            _ypr[i] *= 180/PI;
        }
    }
    return 0;
}