MPU6050华大单片机移植 可跑

int main(void)
{
	float pitch,roll,yaw; 		//欧拉角
	short aacx,aacy,aacz;		//加速度传感器原始数据
	short gyrox,gyroy,gyroz;	//陀螺仪原始数据
	short temp;					//温度 
	uint32_t GetData=1,t;
	App_ClkInit();
	MPU_IIC_Init();
	MPU_Inits();
	Uart_init();
	printf("\r\nHC32L136K8T6  8K RAM 64K ROM\r\n");
	
	if(mpu_dmp_init() == 0)
		printf("\r\n MPU 6050  OK\r\n");
	else
		printf("\r\n MPU 6050  ERR!!!!!!\r\n");
	
	printf(" Read_Temperature %d\r\n",MPU_Get_Temperature());	
	while(1)
	{
		if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)
		{
			MPU_Get_Accelerometer(&aacx,&aacy,&aacz);	//得到加速度传感器数据
			MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz);	//得到陀螺仪数据	
			
			t++; 
      if((t%10)==0)
			{ 		
				t=0;
			}	
			if(GetData)//(GetData=0时 用于USMART调试MPU6050寄存器)
			{
				mpu6050_send_data(aacx,aacy,aacz,gyrox,gyroy,gyroz);//用自定义帧发送加速度和陀螺仪原始数据
				usart1_report_imu(aacx,aacy,aacz,gyrox,gyroy,gyroz,(int)(roll*100),(int)(pitch*100),(int)(yaw*10));//发送数据到上位机	
			}
			
				
		}
		
	}
	
}