#include?	
#include?
#include????
#include?
#include?“mpu6050.h“
#include?“uart0.h“

#define?coff?11
#define?Gyr_Gain?0.0076???
#define?K?0.715
#define?dt?0.005

int?shud[1800];
unsigned?int?counter=0;
unsigned?char?flag?=?0;

int?ax_offset=0ay_offset=0az_offset=0;
int?gx_offset=0gy_offset=0gz_offset=0;
float?x_theta=0.0y_theta=0.0z_theta=0.0;
float?old_value_x=0.0old_value_y=0.0old_value_z=0.0;


void?timer0_init（void）
{
?MCUCR?=?0x00;
?
?TCCR0?=?0x00;?//stop
?ASSR??=?0x00;?//set?async?mode
?TCNT0?=?0xc7;?//set?count??D9
?OCR0??=?0x27;
?TCCR0?=?0x07;?//start?timer
?
?TIMSK?|=?BIT（0）;?//timer?interrupt?sources
}

//**************************************
//在1602上顯示10位數據
//**************************************
void?Display10BitData（int?value）
{??
????unsigned?char?i;
	unsigned?char?dis[6];	//顯示數字（-511至512）的字符數組
	int_to_ascii（dis?value）;
	for（i=0;i<6;i++）
	{
??????uart0_send（dis[i]）;
????}
	uart0_send（‘?‘）;
}

void?mpu_check（void）
{
??unsigned?char?i=0;
??double?ax_offset1=0ay_offset1=0az_offset1=0;
??double?gx_offset1=0gy_offset1=0gz_offset1=0;

??for（i=0;i<250;i++）
??{
????/*ax_offset1?+=?ACCEL_XOUT;
????ay_offset1?+=?ACCEL_YOUT;
????az_offset1?+=?ACCEL_ZOUT;*/
	
	gx_offset1?+=?GYRO_XOUT;
	gy_offset1?+=?GYRO_XOUT;
	gz_offset1?+=?GYRO_XOUT;
??}
??//ax_offset1?/=?250;ay_offset1?/=?250;az_offset1?/=?250;
??gx_offset1?/=?250;gy_offset1?/=?250;gz_offset1?/=?250;
??
??ax_offset?=?（int）ax_offset1;gx_offset?=?（int）gx_offset1;
??ay_offset?=?（int）ay_offset1;gy_offset?=?（int）gy_offset1;
??az_offset?=?（int）az_offset1;gz_offset?=?（int）gz_offset1;
??old_value_x?=?GYRO_XOUT?-?gx_offset;
??old_value_y?=?GYRO_YOUT?-?gy_offset;
??old_value_z?=?GYRO_ZOUT?-?gz_offset;?
}
//*********************************************************
//主程序
//*********************************************************

int?main（）
{?
????signed?char?value=0;
	unsigned?int?j=0;
	unsigned?char?i=0;
	signed?int?sum?=?0;
????DDRA?=?0XFF;
	PORTA?=?0X00;
????uart0_init（）;?
????timer0_init（）;
	delay_ms（200）;
????while（0?==?InitMPU6050（））
????{
????????uart0_send（‘E‘）;
????}
????delay_ms（150）;
	mpu_check（）;
	PORTA?=?0XFF;
????SREG?|=?BIT（7）;
????while（1）
????{?
	??if（flag?==?0xff）
	??{
	????SREG?&=?~BIT（7）;
	????PORTA?=?0X00;?
	????for（counter=0;counter<1800;counter=counter+2）
		{
???????????Display10BitData（shud[counter]）;
		???Display10BitData（shud[counter+1]）;
		???uart0_send（0x0d）;?
???????????uart0_send（0x0a）;//換行，回車?
		}
		flag?=?0x00;while（1）;
	??}
	??
????}
}


#pragma?interrupt_handler?timer0_ovf_isr:iv_TIM0_OVF
void?timer0_ovf_isr（void）
{?
??unsigned?char?i=0;
??int?sum_x=0sum_y=0;
??static?unsigned?char?count=0;
??float?X_a=0.0Y_a=0.0Z_a=0.0;
??float?pre_value_x=0.0pre_value_y=0.0pre_value_z=0.0;
??float?acc_angle_x=0.0acc_angle_y=0.0acc_angle_z=0.0;
??float?gyr_x=0.0gyr_y=0.0gyr_z=0.0;
??float?buf_x[

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2013-08-23?01:09??mpu6050\
?????目錄???????????0??2013-08-23?01:09??mpu6050\code\
?????目錄???????????0??2013-08-23?01:09??mpu6050\code\IIC\
?????文件????????2886??2013-08-21?15:52??mpu6050\code\IIC\sccb.c
?????文件?????????921??2013-08-21?16:02??mpu6050\code\IIC\sccb.h
?????文件????????5273??2013-08-22?22:46??mpu6050\code\main.c
?????文件???????????1??2013-08-16?13:50??mpu6050\code\mat.c
?????目錄???????????0??2013-08-23?01:09??mpu6050\code\mpu6065_sensor\
?????文件????????2720??2013-08-21?18:04??mpu6050\code\mpu6065_sensor\mpu6050.c
?????文件????????2369??2013-08-20?21:46??mpu6050\code\mpu6065_sensor\mpu6050.h
?????目錄???????????0??2013-08-23?01:09??mpu6050\code\uart0\
?????文件????????1415??2013-08-16?12:47??mpu6050\code\uart0\uart0.c
?????文件?????????179??2013-07-22?12:40??mpu6050\code\uart0\uart0.h
?????目錄???????????0??2013-08-23?01:09??mpu6050\project\
?????目錄???????????0??2013-08-23?01:09??mpu6050\project\BACKUP\
?????文件????????5275??2013-08-22?22:40??mpu6050\project\BACKUP\main._c
?????文件???????????1??2013-08-15?16:09??mpu6050\project\BACKUP\main.c.130815160902
?????文件???????????0??2013-08-15?16:10??mpu6050\project\BACKUP\main.c.130815161054
?????文件????????6548??2013-08-15?16:11??mpu6050\project\BACKUP\main.c.130815161102
?????文件????????1282??2013-08-15?16:32??mpu6050\project\BACKUP\main.c.130815163224
?????文件????????1245??2013-08-15?16:35??mpu6050\project\BACKUP\main.c.130815163520
?????文件????????1219??2013-08-15?16:35??mpu6050\project\BACKUP\main.c.130815163546
?????文件????????1267??2013-08-15?16:36??mpu6050\project\BACKUP\main.c.130815163622
?????文件????????1287??2013-08-15?16:36??mpu6050\project\BACKUP\main.c.130815163648
?????文件????????1267??2013-08-15?16:37??mpu6050\project\BACKUP\main.c.130815163702
?????文件????????1268??2013-08-15?16:37??mpu6050\project\BACKUP\main.c.130815163718
?????文件????????1281??2013-08-15?16:52??mpu6050\project\BACKUP\main.c.130815165236
?????文件????????1300??2013-08-15?16:58??mpu6050\project\BACKUP\main.c.130815165822
?????文件????????1321??2013-08-15?17:18??mpu6050\project\BACKUP\main.c.130815171822
?????文件????????1294??2013-08-15?18:03??mpu6050\project\BACKUP\main.c.130815180322
?????文件????????1342??2013-08-15?19:34??mpu6050\project\BACKUP\main.c.130815193428
............此處省略515個文件信息