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

to 200Hz, add SD card logging, and a number of other changes.

crt0.s

@@ -7,7 +7,7 @@
 	.equ	PLL_P,		2
 
 	.equ	FLASHCLOCKS,	3 /* 40-60MHz clock */
-	.equ	APB_DIVIDER,	4 /* 1, 2 or 4 */
+	.equ	APB_DIVIDER,	1 /* 1, 2 or 4 */
 
 	.equ	UND_STACK_SIZE,	0x0004
 	.equ	SVC_STACK_SIZE,	0x0010
@@ -62,6 +62,8 @@
 	.equ	APBDIV_BASE,	0xE01FC100
 	.equ	APBDIV,		0
 
+	.equ	FP0XVAL,	0x3FFFC014
+
 	# True is -1 so we subtract values together.
 	.equ	PLL_LOG_P,	(0-(PLL_P>1)-(PLL_P>2)-(PLL_P>4))
 	.equ	PLLCFG_VAL,	(PLL_M-1) | (PLL_LOG_P << 5)
@@ -185,10 +187,27 @@ lzi:
 	b	main
 
 # Undefined handlers can just spin for now
+
+# Turn on LED
+#	ldr	r2, =FP0XVAL
+#	ldr	r0, [r2, #0]
+#	bic	r0, r0, #0x04000000
+#	str	r0, [r2, #0]
+#	b	__back
+
+# Turn off LED
+#	ldr	r2, =FP0XVAL
+#	ldr	r0, [r2, #0]
+#	orr	r0, r0, #0x04000000
+#	str	r0, [r2, #0]
+#	b	__back
+
 undefined_handler:
 prefetch_abort_handler:
 data_abort_handler:
 fiq_handler:
+	mov	r0, r14
+	bl	panic
 
 __back:
 	b	__back