X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=main.c;h=8f0f7ed57b908d2adb2758ed56bf0b7ab776b57d;hp=454b54bc81f3fb5b03c06faf525a4512cff14da2;hb=9976bc2b818f3cb985e83509d01141fb95b4533a;hpb=80d45bc2bf74e4f2833ec9427d145ecd7d8c13b7

diff --git a/main.c b/main.c
index 454b54b..8f0f7ed 100644
--- a/main.c
+++ b/main.c
@@ -51,9 +51,14 @@
 #include <rdline.h>
 #include <timer.h>
 #include <i2cm_sw.h>
+#include <i2c.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;
@@ -136,7 +141,6 @@ static void main_timer_interrupt(void)
 }
 
 /* XXX */
-int imu_loop(void);
 int sd_main(void);
 
 int main(void)
@@ -163,15 +167,23 @@ int main(void)
 	/* communication with mpu6050 */
 	i2cm_init();
 
-	sei();
+	/* i2c hw to communicate 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);
 
 	eeprom_load_config();
 
+	sd_log_open();
+
+	sei();
+
 	printf_P(PSTR("\r\n"));
 	rdline_newline(&imuboard.rdl, imuboard.prompt);
 
-
 	//sd_main();
+	imu_init();
 	//imu_loop();
 	gps_venus_init();
 	gps_loop();