Extend to write your own stm32f407 mpu6050 use inside the DMP library to realize the precise angle data fusion can be calculated pitch angle, roll angle, pitch angle, the IIC bus interface is the pb11 and pb10, absolutely easy to use, IIC simulation program

mpu6050\DOC\readme.txt
.......\keilkill.bat
.......\Libraries\CMSIS\core_cm4.h
.......\.........\.....\core_cm4_simd.h
.......\.........\.....\core_cmFunc.h
.......\.........\.....\core_cmInstr.h
.......\.........\.....\startup\startup_stm32f40_41xxx.s
.......\.........\.....\stm32f4xx.h
.......\.........\.....\system_stm32f4xx.c
.......\.........\.....\system_stm32f4xx.h
.......\.........\FWlib\inc\misc.h
.......\.........\.....\...\stm32f4xx_adc.h
.......\.........\.....\...\stm32f4xx_can.h
.......\.........\.....\...\stm32f4xx_crc.h
.......\.........\.....\...\stm32f4xx_cryp.h
.......\.........\.....\...\stm32f4xx_dac.h
.......\.........\.....\...\stm32f4xx_dbgmcu.h
.......\.........\.....\...\stm32f4xx_dcmi.h
.......\.........\.....\...\stm32f4xx_dma.h
.......\.........\.....\...\stm32f4xx_dma2d.h
.......\.........\.....\...\stm32f4xx_exti.h
.......\.........\.....\...\stm32f4xx_flash.h
.......\.........\.....\...\stm32f4xx_flash_ramfunc.h
.......\.........\.....\...\stm32f4xx_fmc.h
.......\.........\.....\...\stm32f4xx_fsmc.h
.......\.........\.....\...\stm32f4xx_gpio.h
.......\.........\.....\...\stm32f4xx_hash.h
.......\.........\.....\...\stm32f4xx_i2c.h
.......\.........\.....\...\stm32f4xx_iwdg.h
.......\.........\.....\...\stm32f4xx_ltdc.h
.......\.........\.....\...\stm32f4xx_pwr.h
.......\.........\.....\...\stm32f4xx_rcc.h
.......\.........\.....\...\stm32f4xx_rng.h
.......\.........\.....\...\stm32f4xx_rtc.h
.......\.........\.....\...\stm32f4xx_sai.h
.......\.........\.....\...\stm32f4xx_sdio.h
.......\.........\.....\...\stm32f4xx_spi.h
.......\.........\.....\...\stm32f4xx_syscfg.h
.......\.........\.....\...\stm32f4xx_tim.h
.......\.........\.....\...\stm32f4xx_usart.h
.......\.........\.....\...\stm32f4xx_wwdg.h
.......\.........\.....\src\misc.c
.......\.........\.....\...\stm32f4xx_adc.c
.......\.........\.....\...\stm32f4xx_can.c
.......\.........\.....\...\stm32f4xx_crc.c
.......\.........\.....\...\stm32f4xx_cryp.c
.......\.........\.....\...\stm32f4xx_cryp_aes.c
.......\.........\.....\...\stm32f4xx_cryp_des.c
.......\.........\.....\...\stm32f4xx_cryp_tdes.c
.......\.........\.....\...\stm32f4xx_dac.c
.......\.........\.....\...\stm32f4xx_dbgmcu.c
.......\.........\.....\...\stm32f4xx_dcmi.c
.......\.........\.....\...\stm32f4xx_dma.c
.......\.........\.....\...\stm32f4xx_dma2d.c
.......\.........\.....\...\stm32f4xx_exti.c
.......\.........\.....\...\stm32f4xx_flash.c
.......\.........\.....\...\stm32f4xx_flash_ramfunc.c
.......\.........\.....\...\stm32f4xx_fmc.c
.......\.........\.....\...\stm32f4xx_fsmc.c
.......\.........\.....\...\stm32f4xx_gpio.c
.......\.........\.....\...\stm32f4xx_hash.c
.......\.........\.....\...\stm32f4xx_hash_md5.c
.......\.........\.....\...\stm32f4xx_hash_sha1.c
.......\.........\.....\...\stm32f4xx_i2c.c
.......\.........\.....\...\stm32f4xx_iwdg.c
.......\.........\.....\...\stm32f4xx_ltdc.c
.......\.........\.....\...\stm32f4xx_pwr.c
.......\.........\.....\...\stm32f4xx_rcc.c
.......\.........\.....\...\stm32f4xx_rng.c
.......\.........\.....\...\stm32f4xx_rtc.c
.......\.........\.....\...\stm32f4xx_sai.c
.......\.........\.....\...\stm32f4xx_sdio.c
.......\.........\.....\...\stm32f4xx_spi.c
.......\.........\.....\...\stm32f4xx_syscfg.c
.......\.........\.....\...\stm32f4xx_tim.c
.......\.........\.....\...\stm32f4xx_usart.c
.......\.........\.....\...\stm32f4xx_wwdg.c
.......\Periph\MPU6050\delay.c
.......\......\.......\delay.h
.......\......\.......\dmpKey.h
.......\......\.......\dmpmap.h
.......\......\.......\inv_mpu.c
.......\......\.......\inv_mpu.h
.......\......\.......\inv_mpu_dmp_motion_driver.c
.......\......\.......\inv_mpu_dmp_motion_driver.h
.......\......\.......\main.c
.......\......\.......\STM32_I2C.c
.......\......\.......\STM32_I2C.h
.......\.roject\RVMDK(uv5)\anbt_dmp_driver.crf
.......\.......\..........\anbt_dmp_driver.d
.......\.......\..........\anbt_dmp_driver.o
.......\.......\..........\anbt_dmp_mpu6050.crf
.......\.......\..........\anbt_dmp_mpu6050.d
.......\.......\..........\anbt_dmp_mpu6050.o
.......\.......\.........

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