X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=main.c;h=8f0f7ed57b908d2adb2758ed56bf0b7ab776b57d;hp=85020449d3098a7ccd4a19afdff6f48e289bb111;hb=99a00646c85d806f34d7a4aa9f52b318607f7530;hpb=da1d0e96fa1b3f2ec6598351b10ba7348b3f8c1d

diff --git a/main.c b/main.c
index 8502044..8f0f7ed 100644
--- a/main.c
+++ b/main.c
@@ -58,6 +58,7 @@
 #include "sd_log.h"
 #include "../fpv-common/i2c_commands.h"
 #include "i2c_protocol.h"
+#include "imu.h"
 #include "main.h"
 
 struct imuboard imuboard;
@@ -140,7 +141,6 @@ static void main_timer_interrupt(void)
 }
 
 /* XXX */
-int imu_loop(void);
 int sd_main(void);
 
 int main(void)
@@ -167,23 +167,23 @@ int main(void)
 	/* communication with mpu6050 */
 	i2cm_init();
 
-	/* i2c hw with mainboard */
+	/* 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);
 
-	sei();
-
 	eeprom_load_config();
 
-	open_log_file();
+	sd_log_open();
+
+	sei();
 
 	printf_P(PSTR("\r\n"));
 	rdline_newline(&imuboard.rdl, imuboard.prompt);
 
 	//sd_main();
-	//imu_init();
+	imu_init();
 	//imu_loop();
 	gps_venus_init();
 	gps_loop();