main.cpp


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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);
	}
}