Обновлена IRS

Source/Devices/IIMU.cpp

@@ -1,11 +1,22 @@
 #include "IIMU.h"
+#include "stm32g4xx.h"
 #include "I2C.h"
 #include "ICM20948.h"
+#include "GPIO.h"
+
 
 IMU_Info IMUInfo;
 
 IMU_Calib_Data CalibDataIMU;
 
+void IMU_InitPower()
+{
+  GPIO_InitPin(GPIO_PIN_13 | GPIO_PORT_C | GPIO_OUTPUT | GPIO_SET); // POWER ON 3V3 (nPC13)
+  for (volatile int i = 0; i < 1000000; i ++) {};
+  GPIOC->BSRR = GPIO_BSRR_BR13;
+  for (volatile int i = 0; i < 1000000; i ++) {};
+}
+
 void IMU_SetReg(unsigned char Addr, unsigned char Reg, unsigned char Value)
 {
   unsigned char reg[2];

Source/Devices/IIMU.h

@@ -47,6 +47,8 @@ typedef void (*IMU_Proc)(IMU_Data&);
 
 extern IMU_Calib_Data CalibDataIMU;
 
+void IMU_InitPower();
+
 void IMU_SetReg(unsigned char Addr, unsigned char Reg, unsigned char Value);
 
 unsigned char IMU_GetReg(unsigned char Addr, unsigned char Reg);