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#include "stm32.h"
#include "interrupt.h"
#include "ppmsum.h"
#include "i2c.h"
int main() {
RCC.enable(RCC.AFIO);
RCC.enable(RCC.IOPA);
RCC.enable(RCC.IOPB);
GPIOA.CRL = 0x4434bbbb;
GPIOA.CRH = 0x444444b4;
GPIOA.ODR = 1 << 5;
GPIOB.CRH = 0x4444ff44;
I2C i2c;
i2c.enable();
i2c.write_reg(0x68, 0x3e, 0x03);
i2c.write_reg(0x68, 0x16, 0x18 | 0x02);
uint8_t buf[6];
PPMSum ppmsum;
ppmsum.enable();
RCC.enable(RCC.TIM2);
TIM2.PSC = 72;
TIM2.ARR = 20000;
TIM2.CCER = 0x1111;
TIM2.CCMR1 = 0x6868;
TIM2.CCMR2 = 0x6868;
TIM2.CR1 = 0x05;
while(1) {
// Wait for a new update.
while(!(TIM2.SR & 0x01));
TIM2.SR = 0;
i2c.read_reg(0x68, 0x1d, 6, buf);
//xbee_send(6, buf);
}
}
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