75 lines
1.2 KiB
C
75 lines
1.2 KiB
C
#include "stm32g431xx.h"
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#include "imu.h"
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#include "imu_processing.h"
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#include "attitude.h"
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#include "radio_receiver.h"
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#include "motors.h"
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#include "pid.h"
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#include "lidar.h"
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imu_scaled_t imu;
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attitude_t attitude;
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rc_channels rx_chs_raw;
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rc_channels rx_chs_normalized;
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control_channels_t ctrl_chs;
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lidar_data lidar;
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void delay_ms(uint32_t ms);
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int main(void)
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{
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/*__enable_irq();
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NVIC_SetPriority(TIM6_DAC_IRQn, 2);
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NVIC_SetPriority(USART3_IRQn, 1);
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NVIC_SetPriority(LPUART1_IRQn, 0);
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imu_pow_init();
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i2c_gpio_init();
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i2c1_init();
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imu_init();
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imu_tim6_init();
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imu_processing_init();
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imu_calibrate();
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receiver_init();
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motors_init();*/
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//lidar_init();
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lidar_i2c2_init();
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tf02_force_uart();
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/*while (1)
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{
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attitude_update(&attitude, &imu);
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receiver_update(&rx_chs_raw);
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rx_chs_normalized = normalize_channels(rx_chs_raw);
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attitude_pid_update(&ctrl_chs, &rx_chs_normalized, &attitude, &imu);
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lidar_update(&lidar);
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if (rx_chs_normalized.rc_armed)
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{
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motors_set_throttle_mix(rx_chs_normalized.rc_throttle, &ctrl_chs, rx_chs_normalized.rc_armed);
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}
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else
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{
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motors_turn_off();
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}
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}*/
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}
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void delay_ms(uint32_t ms)
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{
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for (uint32_t i = 0; i < ms * 4000; i++);
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}
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