int main(void)
{
float x=1;
float p=10;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
delay_init(168); //初始化延时函数
EXTIX_Init();
uart_init(115200);
TIM10_PWM_Init(10000-1,336-1); //84M/84=1Mhz的计数频率,重装载值500，所以PWM频率为 1M/500=2Khz.
TIM11_PWM_Init(10000-1,336-1);
TIM9_PWM_Inita(10000-1,336-1);
TIM9_PWM_Initb(10000-1,336-1);
//TIM3_Int_Init(5000-1,8400-1); //定时器时钟84M，分频系数8400，所以84M/8400=10Khz的计数频率，计数5000次为500ms
exp_point=set_point(0,0,0,750);
MPU_Init();
printf("aaa\r\n");
while(mpu_dmp_init()){}
//TIM3_Int_Init(100-1,8400-1);
init_omegax.data=x;
init_omegax.p=p;
init_roll.data=x;
init_roll.p=p;
while(1)
{
LED0=!LED0;//DS0翻转
delay_ms(200);//延时200ms
};
}
void pwm_init()
{
TIM10_PWM_Init(g_timer_arr,84-1); //1Mhz的计数频率,2Khz的PWM.
TIM11_PWM_Init(g_timer_arr,84-1); //1Mhz的计数频率,2Khz的PWM.
TIM13_PWM_Init(g_timer_arr,84-1); //1Mhz的计数频率,2Khz的PWM.
TIM14_PWM_Init(g_timer_arr,84-1); //1Mhz的计数频率,2Khz的PWM.
}
