mirror of
https://github.com/EFeru/hoverboard-sideboard-hack-GD.git
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64 lines
2.3 KiB
C
64 lines
2.3 KiB
C
/**
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* This file is part of the hoverboard-sideboard-hack project.
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*
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* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdio.h>
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#include <string.h>
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#include "gd32f1x0.h"
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#include "systick.h"
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#include "i2c_it.h"
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#include "defines.h"
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#include "setup.h"
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#include "config.h"
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#include "util.h"
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#include "mpu6050.h"
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#include "mpu6050_dmp.h"
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uint32_t main_loop_counter; // main loop counter to perform task scheduling inside main()
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int main(void)
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{
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systick_config(); // SysTick config
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gpio_config(); // GPIO config
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usart_config(USART_MAIN, USART_MAIN_BAUD); // USART MAIN config
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#if defined(SERIAL_AUX_RX) || defined(SERIAL_AUX_TX)
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usart_config(USART_AUX, USART_AUX_BAUD); // USART AUX config
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#endif
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usart_nvic_config(); // USART interrupt configuration
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i2c_config(); // I2C config
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i2c_nvic_config(); // I2C interrupt configuration
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input_init(); // Input initialization
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while(1) {
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delay_1ms(DELAY_IN_MAIN_LOOP);
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handle_mpu6050(); // Handle of the MPU-6050 IMU sensor
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handle_sensors(); // Handle of the optical sensors
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handle_usart(); // Handle of the USART data
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handle_leds(); // Handle of the sideboard LEDs
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main_loop_counter++;
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}
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}
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