main

#include "stm32f10x.h"

//#include "stdio.h"//为了正常使用printf而添加！不建议使用。

#include "IMU.h"

#include "Tasks.h"

#include "Maths.h"

#include "Filter.h"

#include "Control.h"

#include "struct_all.h"

int main(void)

{

BSP_Int(); //底层驱动初始化

while(1)

{

if(Count_1ms>=1)

{

Count_1ms = 0;

Task_1000HZ();

}

if(Count_2ms>=2)

{

Count_2ms = 0;

Task_500HZ();

}

if(Count_4ms>=4)

{

Count_4ms = 0;

Task_250HZ();

}

}

}