void UserInit(void)
{
RCC_Conf();
GPIO_Conf();
SPI_Conf();
TIMER_Conf();
PWM_Conf();
USART_Conf();
I2C_Conf();
NVIC_Conf();
DelayInit(72);
}
/**
* @brief Configures the accelerometer
* @param None
* @retval I2C success/error code
*/
I2C_Returntype Acc_Init() { //Initialises accel
uint8_t init[LEN_A]=ACCEL_SETUP;
return I2C_Conf(init,LEN_A);
}
/**
* @brief Configures the rate gyro
* @param None
* @retval I2C success/error code
*/
I2C_Returntype Gyr_Init() { //Initialises itg gyro
uint8_t init[LEN_ITG_S]=ITG_SETUP;
uint8_t initc[LEN_ITG_C]=ITG_CLOCK;
I2C_Returntype r=I2C_Conf(init,LEN_ITG_S); //Sets up the config registers
return r|=I2C_Conf(initc,LEN_ITG_C); //Initialises gyro clk config
}
/**
* @brief Configures the magnetometer
* @param None
* @retval I2C success/error code
*/
I2C_Returntype Mag_Init() { //Initialises magno, pointer is left at data registers
uint8_t init[LEN_M]=MAGNO_SETUP;
return I2C_Conf(init,LEN_M);
}
