| 85,24 → 85,18 |
|---|
| // disable interrupts global |
| cli(); |
| |
| // get board release |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // make delay |
| |
| |
| if(PINB & 0x01) BoardRelease = 11; |
| else BoardRelease = 10; |
| |
| DDRC = 0x81; // SCL & Speaker |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| // Set LED Ports as output |
| DDRB |= (1<<DDB1)|(1<<DDB0); |
| ROT_ON; |
| GRN_OFF; |
| |
| PORTD = 0xF7; // LED |
| |
| |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| 116,11 → 110,12 |
|---|
| |
| ROT_OFF; |
| |
| // initalize modules |
| TIMER0_Init(); |
| TIMER2_Init(); |
| USART0_Init(); |
| if (BoardRelease == 11) USART1_Init(); |
| rc_sum_init(); |
| RC_Init(); |
| ADC_Init(); |
| i2c_init(); |
| MM3_init(); |
| 185,18 → 180,18 |
|---|
| I2CTimeout = 5000; |
| while (1) |
| { |
| if(UpdateMotor) // ReglerIntervall |
| if(UpdateMotor) // control interval |
| { |
| //SPI_TransmitByte(); //# |
| UpdateMotor=0; |
| UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
| //PORTD |= 0x08; |
| MotorRegler(); |
| MotorControl(); |
| |
| //PORTD &= ~0x08; |
| SendMotorData(); |
| ROT_OFF; |
| if(PcAccess) PcAccess--; |
| else |
| else |
| { |
| DubWiseKeys[0] = 0; |
| DubWiseKeys[1] = 0; |