mirror of
https://gitee.com/lzc56/MiaoUI.git
synced 2025-08-13 20:52:52 +00:00
22 lines
437 B
C
22 lines
437 B
C
|
#include "APP_MPU6050.h"
|
||
|
|
#include "inv_mpu.h"
|
||
|
|
|
||
|
|
/* Task Handle */
|
||
|
|
TaskHandle_t MPU6050UpdateTask_Handle;
|
||
|
|
|
||
|
|
/* Queue Handle */
|
||
|
|
SemaphoreHandle_t MPU6050Update_Mutex;
|
||
|
|
|
||
|
|
/* Global Variable */
|
||
|
|
float Pitch, Roll, Yaw;
|
||
|
|
|
||
|
|
void MPU6050Update_Task(void *pvParameters)
|
||
|
|
{
|
||
|
|
while (1)
|
||
|
|
{
|
||
|
|
xSemaphoreTake(MPU6050Update_Mutex, portMAX_DELAY);
|
||
|
|
mpu_dmp_get_data(&Pitch, &Roll, &Yaw);
|
||
|
|
xSemaphoreGive(MPU6050Update_Mutex);
|
||
|
|
}
|
||
|
|
}
|