帮我写一个stm32hal库MPU6050的dmp移植代码

好的，以下是一个简单的示例代码，供您参考：

#include "stm32f4xx_hal.h"
#include "MPU6050.h"
#include "inv_mpu_dmp_motion_driver.h"

#define MPU6050_ADDR 0xD0

extern I2C_HandleTypeDef hi2c1;

static void delay_ms(uint32_t ms)
{
    HAL_Delay(ms);
}

uint8_t i2c_write(unsigned char slave_addr,
                  unsigned char reg_addr,
                  unsigned char length,
                  unsigned char const *data)
{
    HAL_StatusTypeDef status = HAL_OK;
    status = HAL_I2C_Mem_Write(&hi2c1, (uint16_t)slave_addr<<1, (uint16_t)reg_addr, 1, (uint8_t*)data, length, 1000);
    if(status == HAL_OK)
        return 0;
    return 1;
}

uint8_t i2c_read(unsigned char slave_addr,
                 unsigned char reg_addr,
                 unsigned char length,
                 unsigned char *data)
{
    HAL_StatusTypeDef status = HAL_OK;
    status = HAL_I2C_Mem_Read(&hi2c1, (uint16_t)slave_addr<<1, (uint16_t)reg_addr, 1, data, length, 1000);
    if(status == HAL_OK)
        return 0;
    return 1;
}

void MPU6050_DMP_Init(void)
{
    unsigned char dmp_memory[DMP_MEMORY_SIZE];
    unsigned short dmp_features;
    int result;

    MPU6050_Initialize();
    result = dmp_load_motion_driver_firmware();
    if (result)
        return;

    dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));
    dmp_features = DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL;
    result = dmp_enable_feature(dmp_features);
    if (result)
        return;
    result = dmp_set_fifo_rate(100);
    if (result)
        return;
    result = mpu_set_dmp_state(1);
    if (result)
        return;
    result = dmp_set_interrupt_mode(DMP_INT_CONTINUOUS);
    if (result)
        return;
    result = mpu_reset_fifo();
    if (result)
        return;
}

void MPU6050_GetQuaternion(long *q)
{
    unsigned char more;
    short sensors;
    unsigned char fifoCount;
    unsigned char fifoBuffer[1024];
    int result;

    result = dmp_read_fifo(fifoBuffer, 1024, &sensors, &more, &fifoCount);
    if (result == 0 && fifoCount > 0)
    {
        dmp_get_quaternion(fifoBuffer, q);
    }
}

void MPU6050_GetRawAccel(short *data)
{
    unsigned char more;
    short sensors;
    unsigned char fifoCount;
    unsigned char fifoBuffer[1024];
    int result;

    result = dmp_read_fifo(fifoBuffer, 1024, &sensors, &more, &fifoCount);
    if (result == 0 && fifoCount > 0)
    {
        dmp_get_raw_accel(fifoBuffer, data);
    }
}

void MPU6050_GetCalibratedGyro(short *data)
{
    unsigned char more;
    short sensors;
    unsigned char fifoCount;
    unsigned char fifoBuffer[1024];
    int result;

    result = dmp_read_fifo(fifoBuffer, 1024, &sensors, &more, &fifoCount);
    if (result == 0 && fifoCount > 0)
    {
        dmp_get_calibrated_gyro(fifoBuffer, data);
    }
}

在这个示例代码中，我们使用了STM32 HAL库来控制I2C接口，使用了MPU6050库来控制MPU6050芯片，使用了inv_mpu_dmp_motion_driver库来实现DMP功能。这个示例代码只是一个简单的实现，如果您需要更多的功能，可以参考相关库的文档来进行修改。