/*=====================================================================================================*/
int main(void)
{
SystemInit();
//USART_Configuration(38400);
Led_Config();
//BLDC_Config();
delay_ms(1000);
I2C_Configuration();
delay_ms(1000);
MPU6050_Initialize();//LSB gyro = 32.8 LSB acc = 2048
delay_ms(1000);
HMC5883L_Initialize();
delay_ms(1000);//delay to avoid hating
IMU_Get_Offset();//read MPU6050 to calib gyro
delay_ms(1000);//wait for MPU to stabilize
IMU_Get_Start();
delay_ms(1000);//delay to avoid hating
TIMBase_Config();
//Rx_Configuration();//Configuration interrupt to calculate dutycycle received from Rx
//PID_Init_Start();
//SysTick_Config(SystemCoreClock / 999);//start to read MPU each 1 ms
//start PWM to test
//BasicThr = 800;
//printf(" Quadcopter Project\r\n");
while (1)
{
}
/*=====================================================================================================*/
/*=====================================================================================================*/
}
void rt_init_thread_entry(void* parameter)
{
/* init board */
// rt_hw_led_init();
I2C_init();
pwm_init();
Init_MPU6050();
HMC5883L_Initialize();
// at_application_init();
#ifdef RT_USING_COMPONENTS_INIT
/* initialization RT-Thread Components */
rt_components_init();
#endif
#ifdef RT_USING_FINSH
finsh_set_device(RT_CONSOLE_DEVICE_NAME);
#endif /* RT_USING_FINSH */
/* Filesystem Initialization */
#if defined(RT_USING_DFS) && defined(RT_USING_DFS_ELMFAT)
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
}
else
rt_kprintf("File System initialzation failed!\n");
#endif /* RT_USING_DFS */
at_application_init();
BT_application_init();
imu_application_init();
}
