#include???????/*?common?defines?and?macros?*/
#include?
#include?“derivative.h“??????/*?derivative-specific?definitions?*/

#define?PITTIME?1000?????????????????????????//設定為2.5ms定時中斷
#define?CV_ACCE_ANGLE_RATIO??1.06??????????????//加速度歸一系數
#define?CAR_GYRO_RATIO_INT???0.75?//0.80???????????????//陀螺儀歸一系數
//#define?CV_GYRO_ZERO??????????1903.0?????????????//陀螺儀中間值
//#define?CV_ACCE_OFFSET????????1041.0?????????????//加速度中間值
#define?CAR_ACCE_RATIO????????3???//補償比例常數
#define??MOTOR_OUT_DEAD_VAL???0?????????//死區電壓

?long?CV_GYRO_ZEROCV_ACCE_OFFSET;?
????????
float????CAR_AA_P_INT?=?3.2768;//強電3.2087;//弱電?傾角比例
??????????????????????
float????CAR_AA_D_INT?=0.3220;//強電//0.3211;//弱電????????????????????????//角速度比例
???char??sbuf[40];
???char?buf[30];???
#define