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