| 66,7 → 66,12 |
|---|
| #include "analog.h" |
| #include "printf_P.h" |
| //#include "spi.h" |
| #ifdef USE_MM3 |
| #include "mm3.h" |
| #endif |
| #ifdef USE_CMPS03 |
| #include "cmps03.h" |
| #endif |
| #include "twimaster.h" |
| #include "eeprom.h" |
| #include "_Settings.h" |
| 90,7 → 95,7 |
|---|
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // make some delay |
| if(PINB & 0x01) BoardRelease = 11; |
| if(PINB & (1<<PINB1)) BoardRelease = 11; |
| else BoardRelease = 10; |
| |
| // set LED ports as output |
| 121,13 → 126,21 |
|---|
| TIMER0_Init(); |
| TIMER2_Init(); |
| USART0_Init(); |
| #if defined (__AVR_ATmega644p__) |
| if (BoardRelease != 10) USART1_Init(); |
| #endif |
| |
| #if defined (__AVR_ATmega644p__) |
| if (BoardRelease == 11) USART1_Init(); |
| #endif |
| |
| RC_Init(); |
| ADC_Init(); |
| I2C_Init(); |
| |
| #ifdef USE_MM3 |
| MM3_Init(); |
| #endif |
| #ifdef USE_CMPS03 |
| CMPS03_Init(); |
| #endif |
| //SPI_MasterInit(); |
| |
| // enable interrupts global |
| 153,6 → 166,9 |
|---|
| timer = SetDelay(500); |
| while(!CheckDelay(timer)); |
| |
| |
| #ifdef USE_MM3 |
| printf("\n\rSupport for Compass Module MM3"); |
| //Compass calibration? |
| if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100) |
| { |
| 159,6 → 175,10 |
|---|
| printf("\n\rCalibrating Compass"); |
| MM3_Calibrate(); |
| } |
| #endif |
| #ifdef USE_CMPS03 |
| printf("\n\rSupport for Compass Module CMPS03"); |
| #endif |
| |
| |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |