first commit

MPU6050/User/main.c

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+#include "stm32f10x.h"                  // Device header
+#include "delay.h"
+#include "MPU6050.h"
+#include "usart1.h"
+#include "imu.h"
+#include "alldata.h"
+#include "string.h"
+#include "stdlib.h"
+#include "stdio.h"
+#include "led.h"
+#define _PI 	3.14159265359
+#define _PI_2 1.57079632679
+uint8_t ID;
+
+int main(void)
+{
+	usart1_Init(2000000);
+	TX_485;
+	led_init();
+	led = 1;
+	printf("hello world\n");
+
+	delay_ms(1000);
+	delay_ms(1000);
+	delay_ms(1000);
+	MPU6050_Init();			//<2F><>ʼ<EFBFBD><CABC>MPU6050
+	ID = MPU6050_GetID();
+	printf("id=%d",ID);
+	imu_rest();
+	
+	USART_RX_STA=0;
+	memset(USART_RX_BUF,0,64);
+	u32 i=0;
+	while(1)
+	{
+		if( MpuGetData() == 0)
+		{
+//			i++;
+			GetAngle(&MPU6050,&Angle,0.003f);
+			float x = Angle.pitch / 180.f * _PI;
+			float y = Angle.roll / 180.f * _PI;
+			printf("%.3fy%.3f\r\n",x,y);
+////			printf("y%.3f\r\n",Angle.roll / 180.f * _PI);
+//			printf("A%dA",i);
+		}	
+	}
+}