Moved I2C register definitions into separate header, improved I2C implementation.

1 files changed, 2 insertions, 3 deletions

diff --git a/main.cpp b/main.cpp
index e34d90e..309ff60 100644
--- a/main.cpp
+++ b/main.cpp
@@ -61,8 +61,7 @@ class PID {
 		}
 };
 
-I2C i2c;
-AHRS ahrs(i2c);
+AHRS ahrs(I2C1);
 
 volatile uint16_t motors[4];
 
@@ -112,7 +111,7 @@ int main() {
 	// Give all hardware enough time to initialize.
 	Time::sleep(200);
 	
-	i2c.enable();
+	I2C1.enable(PB8, PB9);
 	ahrs.init();
 	
 	PPMSum ppmsum;