我使用的是TM4C 例子里mpu9150的程序 ，pe3中断引脚，IIC2，程序debug到MPU9150AppErrorHandler（）函数，没办法正常读取数据
下面是我的代码
//*****************************************************************************
//
// compdcm_mpu9150.c - Example use of the SensorLib with the MPU9150
//
// Copyright (c) 2013-2017 Texas Instruments Incorporated. All rights reserved.
// Software License Agreement
//
// Texas Instruments (TI) is supplying this software for use solely and
// exclusively on TI's microcontroller products. The software is owned by
// TI and/or its suppliers, and is protected under applicable copyright
// laws. You may not combine this software with "viral" open-source
// software in order to form a larger program.
//
// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
// DAMAGES, FOR ANY REASON WHATSOEVER.
//
// This is part of revision 2.1.4.178 of the EK-TM4C1294XL Firmware Package.
//
//*****************************************************************************
#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_memmap.h"
#include "inc/hw_ints.h"
#include "driverlib/debug.h"
#include "driverlib/gpio.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/rom.h"
#include "driverlib/rom_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/uart.h"
#include "utils/uartstdio.h"
#include "sensorlib/hw_mpu9150.h"
#include "sensorlib/hw_ak8975.h"
#include "sensorlib/i2cm_drv.h"
#include "sensorlib/ak8975.h"
#include "sensorlib/mpu9150.h"
#include "sensorlib/comp_dcm.h"
#include "drivers/buttons.h"
#include "drivers/pinout.h"
//*****************************************************************************
//
//! \addtogroup example_list
//! <h1>Nine Axis Sensor Fusion with the MPU9150 and Complimentary-Filtered
//! DCM (compdcm_mpu9150)</h1>
//!
//! This example demonstrates the basic use of the Sensor Library, TM4C1294
//! LaunchPad and SensHub BoosterPack to obtain nine axis motion measurements
//! from the MPU9150. The example fuses the nine axis measurements into a set
//! of Euler angles: roll, pitch and yaw. It also produces the rotation
//! quaternions. The fusion mechanism demonstrated is a complimentary-filtered
//! direct cosine matrix (DCM) algorithm. The algorithm is provided as part of
//! the Sensor Library.
//!
//! This example requires that the BOOSTXL-SENSHUB be installed on BoosterPack
//! 1 interface headers. See code comments for instructions on how to use
//! BoosterPack 2 interface.
//!
//! Connect a serial terminal program to the LaunchPad's ICDI virtual serial
//! port at 115,200 baud. Use eight bits per byte, no parity and one stop bit.
//! The raw sensor measurements, Euler angles and quaternions are printed to
//! the terminal. An LED begins to blink at 1Hz after initialization is
//! completed and the example application is running.
//
//*****************************************************************************
//*****************************************************************************
//
// Define MPU9150 I2C Address.
//
//*****************************************************************************
#define MPU9150_I2C_ADDRESS 0x68
//*****************************************************************************
//
// Global variable for holder the actual system clock speed.
//
//*****************************************************************************
uint32_t g_ui32SysClock;
//*****************************************************************************
//
// Global instance structure for the I2C master driver.
//
//*****************************************************************************
tI2CMInstance g_sI2CInst;
//*****************************************************************************
//
// Global instance structure for the ISL29023 sensor driver.
//
//*****************************************************************************
tMPU9150 g_sMPU9150Inst;
//*****************************************************************************
//
// Global Instance structure to manage the DCM state.
//
//*****************************************************************************
tCompDCM g_sCompDCMInst;
//*****************************************************************************
//
// Global flags to alert main that MPU9150 I2C transaction is complete
//
//*****************************************************************************
volatile uint_fast8_t g_vui8I2CDoneFlag;
//*****************************************************************************
//
// Global flags to alert main that MPU9150 I2C transaction error has occurred.
//
//*****************************************************************************
volatile uint_fast8_t g_vui8ErrorFlag;
//*****************************************************************************
//
// Global flags to alert main that MPU9150 data is ready to be retrieved.
//
//*****************************************************************************
volatile uint_fast8_t g_vui8DataFlag;
//*****************************************************************************
//
// Global counter to control and slow down the rate of data to the terminal.
//
//*****************************************************************************
#define PRINT_SKIP_COUNT 10
uint32_t g_ui32PrintSkipCounter;
//*****************************************************************************
//
// The error routine that is called if the driver library encounters an error.
//
//*****************************************************************************
#ifdef DEBUG
void
__error__(char *pcFilename, uint32_t ui32Line)
{
}
#endif
//*****************************************************************************
//
// MPU9150 Sensor callback function. Called at the end of MPU9150 sensor
// driver transactions. This is called from I2C interrupt context. Therefore,
// we just set a flag and let main do the bulk of the computations and display.
//
//*****************************************************************************
void
MPU9150AppCallback(void *pvCallbackData, uint_fast8_t ui8Status)
{
//
// Turn off the LED to show that transaction is complete.
//
LEDWrite(CLP_D3 | CLP_D4, 0);
//
// If the transaction succeeded set the data flag to indicate to
// application that this transaction is complete and data may be ready.
//
if(ui8Status == I2CM_STATUS_SUCCESS)
{
g_vui8I2CDoneFlag = 1;
}
//
// Store the most recent status in case it was an error condition
//
g_vui8ErrorFlag = ui8Status;
}
//*****************************************************************************
//
// Called by the NVIC as a result of GPIO port E interrupt event. For this
// application GPIO port E pin 3 is the interrupt line for the MPU9150
//*****************************************************************************
void
GPIOPortEIntHandler(void)
{
unsigned long ulStatus;
//
// Get the status flags to see which pin(s) caused the interrupt.
//
ulStatus = GPIOIntStatus(GPIO_PORTE_BASE, true);
//
// Clear all the pin interrupts that are set
//
GPIOIntClear(GPIO_PORTE_BASE, ulStatus);
//
// Check if this is an interrupt on the MPU9150 interrupt line.
//
// For BoosterPack 2 use Pin 7 instead.
//
if(ulStatus & GPIO_PIN_3)
{
//
// Turn on the LED to show that transaction is starting.
//
LEDWrite(CLP_D3 | CLP_D4, CLP_D3);
//
// MPU9150 Data is ready for retrieval and processing.
//
MPU9150DataRead(&g_sMPU9150Inst, MPU9150AppCallback, &g_sMPU9150Inst);
}
}
////*****************************************************************************
////
//// Called by the NVIC as a result of GPIO port M interrupt event. For this
//// application GPIO port M pin 3 is the interrupt line for the MPU9150
////
//// For BoosterPack 2 Interface use Port M pin 7.
////
////*****************************************************************************
//void
//GPIOPortMIntHandler(void)
//{
// unsigned long ulStatus;
// //
// // Get the status flags to see which pin(s) caused the interrupt.
// //
// ulStatus = GPIOIntStatus(GPIO_PORTM_BASE, true);
// //
// // Clear all the pin interrupts that are set
// //
// GPIOIntClear(GPIO_PORTM_BASE, ulStatus);
// //
// // Check if this is an interrupt on the MPU9150 interrupt line.
// //
// // For BoosterPack 2 use Pin 7 instead.
// //
// if(ulStatus & GPIO_PIN_3)
// {
// //
// // Turn on the LED to show that transaction is starting.
// //
// LEDWrite(CLP_D3 | CLP_D4, CLP_D3);
// //
// // MPU9150 Data is ready for retrieval and processing.
// //
// MPU9150DataRead(&g_sMPU9150Inst, MPU9150AppCallback, &g_sMPU9150Inst);
// }
//}
//*****************************************************************************
//
// Called by the NVIC as a result of I2C7 Interrupt. I2C7 is the I2C connection
// to the MPU9150.
//
//
// For BoosterPack 2 interface change this to the I2C8 interrupt location in
// the vector table in the startup file.
//
//*****************************************************************************
void
MPU9150I2CIntHandler(void)
{
//
// Pass through to the I2CM interrupt handler provided by sensor library.
// This is required to be at application level so that I2CMIntHandler can
// receive the instance structure pointer as an argument.
//
I2CMIntHandler(&g_sI2CInst);
}
//*****************************************************************************
//
// MPU9150 Application error handler. Show the user if we have encountered an
// I2C error.
//
//*****************************************************************************
void
MPU9150AppErrorHandler(char *pcFilename, uint_fast32_t ui32Line)
{
uint32_t ui32LEDState;
//
// Set terminal color to red and print error status and locations
//
UARTprintf("\033[31;1m");
UARTprintf("Error: %d, File: %s, Line: %d\n"
"See I2C status definitions in utils\\i2cm_drv.h\n",
g_vui8ErrorFlag, pcFilename, ui32Line);
//
// Return terminal color to normal
//
UARTprintf("\033[0m");
//
// Read the initial LED state and clear the CLP_D3 LED
//
LEDRead(&ui32LEDState);
ui32LEDState &= ~CLP_D3;
//
// Do nothing and wait for interventions. A more robust application could
// attempt corrective actions here.
//
while(1)
{
//
// Toggle LED 4 to indicate the error.
//
ui32LEDState ^= CLP_D4;
LEDWrite(CLP_D3 | CLP_D4, ui32LEDState);
//
// Do Nothing
//
ROM_SysCtlDelay(g_ui32SysClock / (10 * 3));
}
}
//*****************************************************************************
//
// Function to wait for the MPU9150 transactions to complete. Use this to spin
// wait on the I2C bus.
//
//*****************************************************************************
void
MPU9150AppI2CWait(char *pcFilename, uint_fast32_t ui32Line)
{
//
// Put the processor to sleep while we wait for the I2C driver to
// indicate that the transaction is complete.
//
while((g_vui8I2CDoneFlag == 0) && (g_vui8ErrorFlag == 0))
{
//
// Do Nothing
//
}
//
// If an error occurred call the error handler immediately.
//
if(g_vui8ErrorFlag)
{
MPU9150AppErrorHandler(pcFilename, ui32Line);
}
//
// clear the data flag for next use.
//
g_vui8I2CDoneFlag = 0;
}
//*****************************************************************************
//
// Configure the UART and its pins. This must be called before UARTprintf().
//
//*****************************************************************************
void
ConfigureUART(void)
{
//
// Enable the GPIO Peripheral used by the UART.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
//
// Enable UART0
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
//
// Configure GPIO Pins for UART mode.
//
ROM_GPIOPinConfigure(GPIO_PA0_U0RX);
ROM_GPIOPinConfigure(GPIO_PA1_U0TX);
ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Initialize the UART for console I/O.
//
UARTStdioConfig(0, 115200, g_ui32SysClock);
}
//*****************************************************************************
//
// Main application entry point.
//
//*****************************************************************************
int
main(void)
{
int_fast32_t i32IPart[16], i32FPart[16];
uint_fast32_t ui32Idx, ui32CompDCMStarted;
float pfData[16];
float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = pfData;
pfGyro = pfData + 3;
pfMag = pfData + 6;
pfEulers = pfData + 9;
pfQuaternion = pfData + 12;
//
// Configure the system frequency.
//¿ª·¢°å25mhz ·É¿Ø°å16mhz
g_ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN | SYSCTL_USE_PLL |
SYSCTL_CFG_VCO_480), 120000000);
//
// Configure the device pins for this board.
//
PinoutSet(false, false);
//
// Initialize the UART.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JMPU9150 Complimentary DCM Example\n");
// //
// // The I2C7 peripheral must be enabled before use.
// //
// // For BoosterPack 2 interface use I2C8.
// //
// ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C7);
// ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// The I2C2 peripheral must be enabled before use.
//
// For BoosterPack 2 interface use I2C8.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C2);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPION);
//
// Configure the pin muxing for I2C7 functions on port D0 and D1.
// This step is not necessary if your part does not support pin muxing.
//
// For BoosterPack 2 interface use PA2 and PA3.
//
ROM_GPIOPinConfigure(GPIO_PN5_I2C2SCL);
ROM_GPIOPinConfigure(GPIO_PN4_I2C2SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
// For BoosterPack 2 interface use PA2 and PA3.
//
// GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
// ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
GPIOPinTypeI2CSCL(GPIO_PORTN_BASE, GPIO_PIN_5);
ROM_GPIOPinTypeI2C(GPIO_PORTN_BASE, GPIO_PIN_4);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150.
//
// For BoosterPack 2 interface change this to PM7.
//
// ROM_GPIOPinTypeGPIOInput(GPIO_PORTM_BASE, GPIO_PIN_3);
// GPIOIntEnable(GPIO_PORTM_BASE, GPIO_PIN_3);
// ROM_GPIOIntTypeSet(GPIO_PORTM_BASE, GPIO_PIN_3, GPIO_FALLING_EDGE);
// ROM_IntEnable(INT_GPIOM);
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_3);
GPIOIntEnable(GPIO_PORTE_BASE, GPIO_PIN_3);
ROM_GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_3, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOE);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOM is for the MPU9150 interrupt pin.
// UART0 is the virtual serial port
// I2C7 is the I2C interface to the ISL29023
//
// For BoosterPack 2 Interface change this to I2C8.
//
// ROM_SysCtlPeripheralClockGating(true);
// ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOM);
// ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
// ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C7);
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C2);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C7 peripheral.
//
// For BoosterPack 2 use I2C8.
//
// I2CMInit(&g_sI2CInst, I2C7_BASE, INT_I2C7, 0xff, 0xff, g_ui32SysClock);
I2CMInit(&g_sI2CInst, I2C2_BASE, INT_I2C2, 0xff, 0xff, g_ui32SysClock);
//
// Turn on the LED to show a transaction is starting.
//
LEDWrite(CLP_D3 | CLP_D4, CLP_D3);
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Turn on the LED to show a transaction is starting.
//
LEDWrite(CLP_D3 | CLP_D4, CLP_D3);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Turn on the LED to show a transaction is starting.
//
LEDWrite(CLP_D3 | CLP_D4, CLP_D3);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback,
&g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 50 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 50.0f, 0.2f, 0.6f, 0.2f);
//
// Print the basic outline of our data table. Done once and then kept as we
// print only the data.
//
UARTprintf("\033[2J\033[H");
UARTprintf("MPU9150 9-Axis Simple Data Application Example\n\n");
UARTprintf("\033[20GX\033[31G|\033[43GY\033[54G|\033[66GZ\n\n");
UARTprintf("Accel\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Gyro\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Mag\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[20GRoll\033[31G|\033[43GPitch\033[54G|\033[66GYaw\n\n");
UARTprintf("Eulers\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[17GQ1\033[26G|\033[35GQ2\033[44G|\033[53GQ3\033[62G|"
"\033[71GQ4\n\n");
UARTprintf("Q\033[8G|\033[26G|\033[44G|\033[62G|\n\n");
ui32CompDCMStarted = 0;
while(1)
{
//
// Go to sleep mode while waiting for data ready.
//
while(!g_vui8I2CDoneFlag)
{
ROM_SysCtlSleep();
}
//
// Clear the flag
//
g_vui8I2CDoneFlag = 0;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
pfGyro + 2);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
pfMag + 2);
//
// Check if this is our first data ever.
//
if(ui32CompDCMStarted == 0)
{
//
// Set flag indicating that DCM is started.
// Perform the seeding of the DCM with the first data set.
//
ui32CompDCMStarted = 1;
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1],
pfGyro[2]);
CompDCMStart(&g_sCompDCMInst);
}
else
{
//
// DCM Is already started. Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
//
// Increment the skip counter. Skip counter is used so we do not
// overflow the UART with data.
//
g_ui32PrintSkipCounter++;
if(g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT)
{
//
// Reset skip counter.
//
g_ui32PrintSkipCounter = 0;
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
pfEulers + 2);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if(pfEulers[2] < 0)
{
pfEulers[2] += 360.0f;
}
//
// Now drop back to using the data as a single array for the
// purpose of decomposing the float into a integer part and a
// fraction (decimal) part.
//
for(ui32Idx = 0; ui32Idx < 16; ui32Idx++)
{
//
// Conver float value to a integer truncating the decimal part.
//
i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];
//
// Multiply by 1000 to preserve first three decimal values.
// Truncates at the 3rd decimal place.
//
i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);
//
// Subtract off the integer part from this newly formed decimal
// part.
//
i32FPart[ui32Idx] = i32FPart[ui32Idx] -
(i32IPart[ui32Idx] * 1000);
//
// make the decimal part a positive number for display.
//
if(i32FPart[ui32Idx] < 0)
{
i32FPart[ui32Idx] *= -1;
}
}
//
// Print the acceleration numbers in the table.
//
UARTprintf("\033[5;17H%3d.%03d", i32IPart[0], i32FPart[0]);
UARTprintf("\033[5;40H%3d.%03d", i32IPart[1], i32FPart[1]);
UARTprintf("\033[5;63H%3d.%03d", i32IPart[2], i32FPart[2]);
//
// Print the angular velocities in the table.
//
UARTprintf("\033[7;17H%3d.%03d", i32IPart[3], i32FPart[3]);
UARTprintf("\033[7;40H%3d.%03d", i32IPart[4], i32FPart[4]);
UARTprintf("\033[7;63H%3d.%03d", i32IPart[5], i32FPart[5]);
//
// Print the magnetic data in the table.
//
UARTprintf("\033[9;17H%3d.%03d", i32IPart[6], i32FPart[6]);
UARTprintf("\033[9;40H%3d.%03d", i32IPart[7], i32FPart[7]);
UARTprintf("\033[9;63H%3d.%03d", i32IPart[8], i32FPart[8]);
//
// Print the Eulers in a table.
//
UARTprintf("\033[14;17H%3d.%03d", i32IPart[9], i32FPart[9]);
UARTprintf("\033[14;40H%3d.%03d", i32IPart[10], i32FPart[10]);
UARTprintf("\033[14;63H%3d.%03d", i32IPart[11], i32FPart[11]);
//
// Print the quaternions in a table format.
//
UARTprintf("\033[19;14H%3d.%03d", i32IPart[12], i32FPart[12]);
UARTprintf("\033[19;32H%3d.%03d", i32IPart[13], i32FPart[13]);
UARTprintf("\033[19;50H%3d.%03d", i32IPart[14], i32FPart[14]);
UARTprintf("\033[19;68H%3d.%03d", i32IPart[15], i32FPart[15]);
}
}
}
哪位大神帮我看看哪里出了问题
