#include?“control.h“	
#include?“filter.h“	
??/**************************************************************************
作者：平衡小車之家
我的淘寶小店：http://shop114407458.taobao.com/
**************************************************************************/
int?TIM1_UP_IRQHandler（void）??
{????
	if（TIM1->SR&0X0001）//5ms定時中斷
	{???
		??TIM1->SR&=~（1<<0）;???????????????????????????????????????//===清除定時器1中斷標志位		?

			Get_Angle（Way_Angle）;????????????????????????????????????//===更新姿態	
		
	}???????	
	?return?0;	??
}?

/**************************************************************************
函數功能：獲取角度
入口參數：獲取角度的算法?1：無??2：卡爾曼?3：互補濾波
返回??值：無
**************************************************************************/
void?Get_Angle（u8?way）
{?
	????float?Accel_YAccel_XAccel_ZGyro_Y

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

?????文件???????1999??2015-08-14?21:35??14_mpu6050\BALANCE\CONTROL\control.c

?????文件????????375??2015-08-14?21:35??14_mpu6050\BALANCE\CONTROL\control.h

?????文件???????2891??2015-07-09?14:05??14_mpu6050\BALANCE\DataScope_DP\DataScope_DP.C

?????文件????????586??2015-07-09?14:05??14_mpu6050\BALANCE\DataScope_DP\DataScope_DP.h

?????文件??????19342??2012-12-14?11:16??14_mpu6050\BALANCE\DMP\dmpKey.h

?????文件???????6765??2012-12-14?11:16??14_mpu6050\BALANCE\DMP\dmpmap.h

?????文件??????84104??2015-07-09?14:05??14_mpu6050\BALANCE\DMP\inv_mpu.c

?????文件???????4335??2015-07-09?14:05??14_mpu6050\BALANCE\DMP\inv_mpu.h

?????文件??????57839??2015-07-09?14:05??14_mpu6050\BALANCE\DMP\inv_mpu_dmp_motion_driver.c

?????文件???????3386??2015-07-09?14:05??14_mpu6050\BALANCE\DMP\inv_mpu_dmp_motion_driver.h

?????文件???????2108??2015-07-09?14:05??14_mpu6050\BALANCE\filter\filter.c

?????文件????????399??2015-07-09?14:05??14_mpu6050\BALANCE\filter\filter.h

?????文件??????11370??2015-08-14?21:55??14_mpu6050\BALANCE\MPU6050\MPU6050.c

?????文件??????14792??2015-08-14?21:48??14_mpu6050\BALANCE\MPU6050\mpu6050.h

?????文件???????3809??2015-07-14?12:11??14_mpu6050\BALANCE\show\show.c

?????文件????????332??2015-07-09?14:05??14_mpu6050\BALANCE\show\show.h

?????文件??????10557??2015-07-09?14:05??14_mpu6050\HARDWARE\IIC\IOI2C.c

?????文件???????3119??2015-07-09?14:05??14_mpu6050\HARDWARE\IIC\IOI2C.h

?????文件????????608??2015-08-14?21:38??14_mpu6050\HARDWARE\TIMER\timer.c

?????文件????????114??2015-06-25?10:44??14_mpu6050\HARDWARE\TIMER\timer.h

?????文件?????303331??2015-07-09?14:05??14_mpu6050\OBJ\adc.crf

?????文件???????1517??2015-07-09?14:05??14_mpu6050\OBJ\adc.d

?????文件?????306264??2015-07-09?14:05??14_mpu6050\OBJ\adc.o

?????文件?????299564??2015-08-14?21:48??14_mpu6050\OBJ\control.crf

?????文件???????1298??2015-08-14?21:48??14_mpu6050\OBJ\control.d

?????文件?????299888??2015-08-14?21:48??14_mpu6050\OBJ\control.o

?????文件????????815??2015-07-09?14:05??14_mpu6050\OBJ\datascope_dp.crf

?????文件????????126??2015-07-09?14:05??14_mpu6050\OBJ\datascope_dp.d

?????文件??????10176??2015-07-09?14:05??14_mpu6050\OBJ\datascope_dp.o

?????文件?????288462??2018-06-23?07:59??14_mpu6050\OBJ\delay.crf

............此處省略110個文件信息