/*!
?*?????COPYRIGHT?NOTICE
?*?????Copyright?（c）?2013野火科技
?*?????All?rights?reserved.
?*?????技術(shù)討論：野火初學(xué)論壇?http://www.chuxue123.com
?*
?*?????除注明出處外，以下所有內(nèi)容版權(quán)均屬野火科技所有，未經(jīng)允許，不得用于商業(yè)用途，
?*?????修改內(nèi)容時必須保留野火科技的版權(quán)聲明。
?*
?*?@file???????main.c
?*?@brief??????野火K60?平臺主程序
?*?@author?????野火科技
?*?@version????v5.0
?*?@date???????2013-08-28
?*/

#include?“common.h“
#include?“include.h“
#include?“stdarg.h“

int16_t?ax?ay?az;	
int16_t?gx?gy?gz;
int16_t?hx?hy?hz;

int32_t?Temperature?=?0?Pressure?=?0?Altitude?=?0;
uint32_t?system_micrsecond;
uint32_t?system_initiativetime;

float?ypr[3];

/****************************************************
**?????????????????????????????????Main
**
**
****************************************************/


int?ang;
?void??main（void）
{??
????int16_t?Math_hz=0;
????uint8_t?cal_begin?=?0;

????/********IMU?GPIO?&?I2C?Init********/
????load_config（）;??//讀取flash中的配置
????IIC_Init（）;	?//IIC初始化
????gpio_init（PTC18?GPI?0）;?//IMU?INT
????
????//adc_init（ADC1_SE13）;
????
????DELAY_MS（300）;	//等待器件上電
????IMU_init（）;?//IMU初始化
????MPU6050_InitGyro_Offset（）;??//讀取?MPU6050的陀螺儀偏置
????DELAY_MS（10）;
????system_initiativetime=system_micrsecond=pit_time_get_us（PIT0）;
????
????while（1）
????{?
????????MPU6050_getMotion6（&ax?&ay?&az?&gx?&gy?&gz）;
????????
????????IMU_getYawPitchRoll（ypr）;?//姿態(tài)更新
????????
	????Math_hz++;?//解算次數(shù)++
????????system_micrsecond?=?pit_time_get_us（PIT0）;
????????
????????if（system_micrsecond?>?8000000）?cal_begin=1;
????????if（cal_begin）
????????{
????????????//add?your?code?here.
??????????printf（“%f?%f?%f/n“?ypr[0]?ypr[1]?ypr[2]）;
??????????
????????}
????????
????}
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????1424??2014-06-21?15:07??MK60__6050\6050\App\Inc\include.h

?????文件????????920??2013-10-23?11:57??MK60__6050\6050\App\Inc\MK60_it.h

?????文件???????1821??2014-08-02?11:41??MK60__6050\6050\App\main.c

?????文件????????469??2013-10-23?11:57??MK60__6050\6050\App\MK60_it.c

?????文件????????343??2014-06-19?11:44??MK60__6050\6050\Board\Accessories\datamap.h

?????文件??????10053??2014-06-19?11:58??MK60__6050\6050\Board\Accessories\Driver\IO_I2C.c

?????文件???????1595??2014-06-19?11:53??MK60__6050\6050\Board\Accessories\Driver\IO_I2C.h

?????文件????????951??2014-06-19?11:44??MK60__6050\6050\Board\Accessories\flashload.c

?????文件???????8054??2014-06-19?11:59??MK60__6050\6050\Board\Accessories\IMU\IMU.c

?????文件????????317??2014-06-19?12:02??MK60__6050\6050\Board\Accessories\IMU\IMU.h

?????文件???????1595??2014-06-19?11:53??MK60__6050\6050\Board\Accessories\IO_I2C.h

?????文件??????12363??2014-06-19?11:56??MK60__6050\6050\Board\Accessories\MPU6050\MPU6050.c

?????文件??????14664??2014-06-19?11:54??MK60__6050\6050\Board\Accessories\MPU6050\MPU6050.h

?????文件??????23647??2014-06-21?14:52??MK60__6050\6050\Board\inc\codetab.h

?????文件????????667??2013-11-02?10:06??MK60__6050\6050\Board\inc\FIRE_ASCII.h

?????文件???????2805??2013-10-30?16:07??MK60__6050\6050\Board\inc\FIRE_BMP.h

?????文件???????1732??2013-11-17?21:39??MK60__6050\6050\Board\inc\FIRE_camera.h

?????文件????????209??2013-10-30?17:00??MK60__6050\6050\Board\inc\fire_img2sd.h

?????文件???????1901??2013-10-08?15:47??MK60__6050\6050\Board\inc\FIRE_key.h

?????文件????????336??2013-10-08?15:45??MK60__6050\6050\Board\inc\FIRE_key_event.h

?????文件???????5399??2013-11-28?23:00??MK60__6050\6050\Board\inc\FIRE_LCD.h

?????文件????????937??2013-11-17?19:54??MK60__6050\6050\Board\inc\FIRE_LCD_CH.h

?????文件???????2106??2013-11-18?12:39??MK60__6050\6050\Board\inc\FIRE_LCD_ILI9341.h

?????文件???????4396??2013-11-24?12:47??MK60__6050\6050\Board\inc\FIRE_LCD_ST7735R.h

?????文件???????4396??2013-11-04?18:41??MK60__6050\6050\Board\inc\FIRE_LCD_ST7735S.h

?????文件????????968??2013-10-07?14:24??MK60__6050\6050\Board\inc\FIRE_LED.H

?????文件???????3955??2013-11-28?17:11??MK60__6050\6050\Board\inc\FIRE_MK60_conf.h

?????文件???????3451??2013-10-08?15:45??MK60__6050\6050\Board\inc\FIRE_MMA7455.h

?????文件???????1867??2013-10-23?10:33??MK60__6050\6050\Board\inc\FIRE_NRF24L0.h

?????文件???????1910??2013-10-15?11:07??MK60__6050\6050\Board\inc\FIRE_NRF24L0_MSG.h

............此處省略312個文件信息