mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
7592316c04
changed gyro/acc to allow different drivers without recompile, this allowed adding mpu6050 support w/autodetect moved sensor orientation code into driver - each driver provides its own added support for mpu6050 - desolder mpu3050 and adxl345, replace with mpu6050 for instant ??? merged multiwii 2.0pre3 code changes (none that mattered except mag calibration and typo in baro stuff) changes to sensor autodetect for new dynamic drivers more of ledring stuff done (still doesn't work, so dont try) git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@115 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
56 lines
1.3 KiB
C
Executable file
56 lines
1.3 KiB
C
Executable file
#include "board.h"
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#include "mw.h"
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int main(void)
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{
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uint8_t i;
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#if 0
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// using this to write asm for bootloader :)
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RCC->APB2ENR |= RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO; // GPIOB + AFIO
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AFIO->MAPR &= 0xF0FFFFFF;
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AFIO->MAPR = 0x02000000;
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GPIOB->BRR = 0x18; // set low 4 & 3
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GPIOB->CRL = 0x44433444; // PIN 4 & 3 Output 50MHz
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#endif
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systemInit();
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readEEPROM();
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checkFirstTime();
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// We have these sensors
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sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
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mixerInit(); // this will configure FEATURE_SERVO depending on mixer type
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pwmInit(feature(FEATURE_PPM), feature(FEATURE_SERVO), feature(FEATURE_DIGITAL_SERVO));
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LED1_ON;
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LED0_OFF;
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for (i = 0; i < 10; i++) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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delay(25);
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BEEP_ON;
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delay(25);
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BEEP_OFF;
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}
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LED0_OFF;
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LED1_OFF;
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// drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
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sensorsAutodetect();
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imuInit(); // Mag is initialized inside imuInit
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previousTime = micros();
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calibratingG = 400;
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#if defined(POWERMETER)
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for (i = 0; i <= PMOTOR_SUM; i++)
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pMeter[i] = 0;
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#endif
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// loopy
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while (1) {
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loop();
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}
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}
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