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some cleaning
[protos/imu.git]
/
main.c
diff --git
a/main.c
b/main.c
index
91ee7b7
..
a1d6af1
100644
(file)
--- a/
main.c
+++ b/
main.c
@@
-51,8
+51,14
@@
#include <rdline.h>
#include <timer.h>
#include <i2cm_sw.h>
#include <rdline.h>
#include <timer.h>
#include <i2cm_sw.h>
+#include <i2c.h>
#include "eeprom_config.h"
#include "eeprom_config.h"
+#include "gps_venus.h"
+#include "sd_log.h"
+#include "../fpv-common/i2c_commands.h"
+#include "i2c_protocol.h"
+#include "imu.h"
#include "main.h"
struct imuboard imuboard;
#include "main.h"
struct imuboard imuboard;
@@
-135,7
+141,6
@@
static void main_timer_interrupt(void)
}
/* XXX */
}
/* XXX */
-int imu_loop(void);
int sd_main(void);
int main(void)
int sd_main(void);
int main(void)
@@
-162,16
+167,26
@@
int main(void)
/* communication with mpu6050 */
i2cm_init();
/* communication with mpu6050 */
i2cm_init();
+ /* i2c hw with mainboard */
+ i2c_init(I2C_MODE_SLAVE, I2C_IMUBOARD_ADDR);
+ i2c_protocol_init();
+ i2c_register_recv_event(i2c_recvevent);
+ i2c_register_send_event(i2c_sendevent);
+
sei();
eeprom_load_config();
sei();
eeprom_load_config();
+ sd_log_open();
+
printf_P(PSTR("\r\n"));
rdline_newline(&imuboard.rdl, imuboard.prompt);
//sd_main();
printf_P(PSTR("\r\n"));
rdline_newline(&imuboard.rdl, imuboard.prompt);
//sd_main();
-
- imu_loop();
+ imu_init();
+ //imu_loop();
+ gps_venus_init();
+ gps_loop();
while (1) {
cmdline_poll();
while (1) {
cmdline_poll();