之前在做mpu的dmp，用的是IAR编译器。由于换了单片机，所以转战了keil，于是准备把dmp相关的.c  .h加入到keil的工程，结果编译出了一堆问题，大部分都是left side of asn-op not an lvalue.以及各种syntax错误。相关的引脚定义什么的我都改过来了，结果依然有一堆这种错误。不知道为什么。
举个例子：
    gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30);
    gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30);
    gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30);

每行都有错误，错误是:syntax error near 'L',  syntax error near ')'
    regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF);
    regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF);
    regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF);

这个的错误是，'>>',bad operand type
    gyro_bias_body[0] = bias[dmp.orient & 3];
    if (dmp.orient & 4)
        gyro_bias_body[0] *= -1;
    gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3];
    if (dmp.orient & 0x20)
        gyro_bias_body[1] *= -1;
    gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3];
    if (dmp.orient & 0x100)
        gyro_bias_body[2] *= -1;

他们的错误就是left side of asn-op not an lvalue.
实在不解！向各位大神求解！感谢！