int main() { struct Gyro1DKalman filter_roll; init_Gyro1DKalman(&filter_roll, 0.1,0.3, 1); Init(); PIO_SODR = (1 << switch_pin); /* 3초 대기 */ delay_ms(3000); PIO_CODR = (1 << switch_pin); INIT_UART0(); while(1) { if(cnt_ == 100) { Kalman(&filter_roll); } } return 0; }
void oled_setup() { INIT_UART0( UART_BAUDRATE_9K6, (UART_OPT_NO_PARITY|UART_OPT_8_BITS_PER_CHAR|UART_OPT_ONE_STOP_BIT)); ENABLE_UART0(); }