diff options
Diffstat (limited to 'main.cpp')
| -rw-r--r-- | main.cpp | 25 |
1 files changed, 18 insertions, 7 deletions
@@ -4,6 +4,7 @@ #include "ppmsum.h" #include "i2c.h" +#include "itg3200.h" int main() { RCC.enable(RCC.AFIO); @@ -17,13 +18,10 @@ int main() { GPIOB.CRH = 0x4444ff44; I2C i2c; - i2c.enable(); - i2c.write_reg(0x68, 0x3e, 0x03); - i2c.write_reg(0x68, 0x16, 0x18 | 0x02); - - uint8_t buf[6]; + ITG3200 gyro(i2c); + gyro.init(); PPMSum ppmsum; ppmsum.enable(); @@ -42,7 +40,20 @@ int main() { while(!(TIM2.SR & 0x01)); TIM2.SR = 0; - i2c.read_reg(0x68, 0x1d, 6, buf); - //xbee_send(6, buf); + // Read sensors. + gyro.update(); + + // Update filter. + + // Generate motor mix. + int16_t throttle = ppmsum.channels[2] - 1000; + int16_t pitch = 0; + int16_t yaw = gyro.z >> 7; + int16_t roll = 0; + + TIM2.CCR1 = 1000 + throttle + pitch + roll - yaw; + TIM2.CCR2 = 1000 + throttle + pitch - roll + yaw; + TIM2.CCR3 = 1000 + throttle - pitch + roll + yaw; + TIM2.CCR4 = 1000 + throttle - pitch - roll - yaw; } } |