float a[3],w[3],angle[3],T;
extern char Re_buf[11],counter;
extern unsigned char sign;
void main()
{
   USART_INIT();   
   #asm("sei")
   while(1)
   {    
      if(sign)
      {  
         sign=0;
         if(Re_buf[0]==0x55)      //¼ì²éÖ¡Í·
      	{  
		switch(Re_buf [1])
		{
		case 0x51:
		a[0] = (short(Re_buf [3]<<8| Re_buf [2]))/32768.0*16;
		a[1] = (short(Re_buf [5]<<8| Re_buf [4]))/32768.0*16;
		a[2] = (short(Re_buf [7]<<8| Re_buf [6]))/32768.0*16;
		T = (short(Re_buf [9]<<8| Re_buf [8]))/340.0+36.25;
		break;
		case 0x52:
		w[0] = (short(Re_buf [3]<<8| Re_buf [2]))/32768.0*2000;
		w[1] = (short(Re_buf [5]<<8| Re_buf [4]))/32768.0*2000;
		w[2] = (short(Re_buf [7]<<8| Re_buf [6]))/32768.0*2000;
		T = (short(Re_buf [9]<<8| Re_buf [8]))/340.0+36.25;
		break;
		case 0x53:
		angle[0] = (short(Re_buf [3]<<8| Re_buf [2]))/32768.0*180;
		angle[1] = (short(Re_buf [5]<<8| Re_buf [4]))/32768.0*180;
		angle[2] = (short(Re_buf [7]<<8| Re_buf [6]))/32768.0*180;
		T = (short(Re_buf [9]<<8| Re_buf [8]))/340.0+36.25;
		break;
		} 
      	}
      } 
   }  
}