基于cortex-M4的K60芯片，主要实现直立智能车平衡程序，源程序包含平衡滤波算法，基于IAR for ARM开发软件的项目工程，里面包含主函数，CCD，卡尔曼滤波，中断等源程序-Cortex-M4 based on the K60 chips, the main vehicle to achieve balanced upright intelligent program source code contains the balance filter algorithm based on

直接通过DMP获取姿态角度，无需利用卡尔曼滤波(MPU6050 K60 DMP this code is useful for the freshman to learn K60 about MPU6050 .)