#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();			//³õʼ»¯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);
		}	
	}
}