void usart1_send_char(u8 c){         while(USART_GetFlagStatus(USART1,USART_FLAG_TC)==RESET);     USART_SendData(USART1,c);    } void usart1_niming_report(u8 fun,u8*data,u8 len){u8 send_buf[32];u8 i;if(len>28)return; send_buf[len+3]=0 ; send_buf[0]=0XAA; send_buf[1]=0XAA; send_buf[2]=fun; send_buf[3]=len; for(i=0;i<len;i++)send_buf[4+i]=data; for(i=0;i<len+4;i++)send_buf[len+4]+=send_buf; for(i=0;i<len+5;i++)usart1_send_char(send_buf); } void mpu6050_send_data(short aacx,short aacy,short aacz,short gyrox,short gyroy,short gyroz){u8 tbuf[18];tbuf[0]=(aacx>>8)&0XFF;tbuf[1]=aacx&0XFF;tbuf[2]=(aacy>>8)&0XFF;tbuf[3]=aacy&0XFF;tbuf[4]=(aacz>>8)&0XFF;tbuf[5]=aacz&0XFF;tbuf[6]=(gyrox>>8)&0XFF;tbuf[7]=gyrox&0XFF;tbuf[8]=(gyroy>>8)&0XFF;tbuf[9]=gyroy&0XFF;tbuf[10]=(gyroz>>8)&0XFF;tbuf[11]=gyroz&0XFF;tbuf[12]=0;tbuf[13]=0;tbuf[14]=0;tbuf[15]=0;tbuf[16]=0;tbuf[17]=0;usart1_niming_report(0X02,tbuf,18);} void usart1_report_imu(short roll,short pitch,short yaw) {u8 tbuf[18];tbuf[0]=(roll>>8)&0XFF;tbuf[1]=roll&0XFF;tbuf[2]=(pitch>>8)&0XFF;tbuf[3]=pitch&0XFF;tbuf[4]=(yaw>>8)&0XFF;tbuf[5]=yaw&0XFF;tbuf[6]=0;tbuf[7]=0;tbuf[8]=0;tbuf[9]=0;tbuf[10]=0;tbuf[11]=0;tbuf[12]=0;        tbuf[13]=0;tbuf[14]=0;tbuf[15]=0;tbuf[16]=0;tbuf[17]=0;usart1_niming_report(0X01,tbuf,18);}                if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)                {                         temp=MPU_Get_Temperature();        //μ&#195;μ&#189;&#206;&#194;&#182;è&#214;μ                        MPU_Get_Accelerometer(&aacx,&aacy,&aacz);                        MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);                                if(report)mpu6050_send_data(aacx,aacy,aacz,gyrox,gyroy,gyroz);&#161;                        if(report)usart1_report_imu((int)(roll*100),(int)(pitch*100),(int)(yaw*100));