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Bye bye Wii Motion Plus, hello MPU6050. Also, increase control loop

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to 200Hz, add SD card logging, and a number of other changes.
This commit is contained in:
Gavan Fantom
2014-05-06 21:03:48 +00:00
parent b482b85ffd
commit e8adff93c1
25 changed files with 1725 additions and 581 deletions
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9
Makefile
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@@ -3,14 +3,17 @@
NAME=quad
SSRCS=crt0.s
CSRCS=main.c i2c.c wmp.c timer.c interrupt.c uart.c event.c matrix.c dcm.c
CSRCS=main.c i2c.c mpu6050.c timer.c interrupt.c uart.c event.c matrix.c dcm.c
CSRCS+=fisqrt.c stick.c trig.c motor.c led.c watchdog.c panic.c status.c
CSRCS+=thrust.c
CSRCS+=thrust.c sensors.c spi.c sdcard.c log.c
#PROJOPTS=-DUSE_UART -DSEND_DCM -DSTICK_DEBUG_CALIBRATE
PROJOPTS=-DTIMER_CPPM
#PROJOPTS=-DTIMER_CPPM -DUSE_UART -DPANIC_32BIT -DPANIC_CHECKPOINT -DI2C_FAST -DSEND_DCM
#PROJOPTS=-DTIMER_CPPM -DPANIC_32BIT -DPANIC_CHECKPOINT -DI2C_FAST -DSEND_DCM
#PROJOPTS=-DTIMER_CPPM -DPANIC_32BIT -DPANIC_CHECKPOINT -DI2C_FAST -DUSE_UART -DSEND_DCM
COPTIM?=-O1
COPTIM?=-Os
CFLAGS=-march=armv4t -msoft-float $(COPTIM) -Wall -Werror -Wextra $(PROJOPTS)
LDSCRIPT=lpc2103_flash.ld