#include?
#include?
#include?
#include?
#include?
#include?“MotionSensor.h“

#define?delay_ms（a）?usleep（a*1000）
/*SQLITE3?DB*/
?
static?sqlite3?*db?=?NULL;
static?char?*errmsg?=?NULL;
int?main（）?{

????char?sql[512]?;?//插入數據庫語句
????int?ret;
????int?insert;
????ret?=?sqlite3_open（“mpu9250.db“?&db）;
????if（ret）
????{
????????printf（“can?not?open?database.\n“）;
????}
????else
????{
????????printf（“open?database?succsee.\n“）;
????}

???int?i??=?0;
	ms_open（）;
????while（i?????????ms_update（）;
????????sprintf（sql“insert?into?mpu9250?values?（%d%2.1f%2.1f?%2.1f?%2.1f?%2.1f?%2.1f）;“?i?ypr[YAW]?ypr[PITCH]?ypr[ROLL]compass[0]compass[1]compass[2]）;
????????insert?=??sqlite3_exec（db?sql?0?0?&errmsg）;//插入
????????printf（“index=?%d\tyaw?=?%2.1f\tpitch?=?%2.1f\troll?=?%2.1f\ttemperature?=?%2.1f\tcompass?=?%2.1f?%2.1f?%2.1f\n“?iypr[YAW]?ypr[PITCH]ypr[ROLL]tempcompass[0]compass[1]compass[2]）;
????????delay_ms（5）;
????????i++;
????}
????sqlite3_close（db）;
	return?0;
}