X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=main.c;h=a1d6af1eedc23e85fbdb5c2b9fac75ebe091210a;hp=9b801f5c1dc1adc8c2fcfea464d55673c91952da;hb=849b29b998a8cbc10cd1900d3e5dd1a8488b77f6;hpb=004f99ba874339e50629141ac39e888070b5378e

diff --git a/main.c b/main.c
index 9b801f5..a1d6af1 100644
--- a/main.c
+++ b/main.c
@@ -51,10 +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;
@@ -137,7 +141,6 @@ static void main_timer_interrupt(void)
 }
 
 /* XXX */
-int imu_loop(void);
 int sd_main(void);
 
 int main(void)
@@ -164,17 +167,23 @@ int main(void)
 	/* 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();
 
-	open_log_file();
+	sd_log_open();
 
 	printf_P(PSTR("\r\n"));
 	rdline_newline(&imuboard.rdl, imuboard.prompt);
 
 	//sd_main();
-	//imu_init();
+	imu_init();
 	//imu_loop();
 	gps_venus_init();
 	gps_loop();