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| Rev 296 | Rev 304 | ||
|---|---|---|---|
| Line 91... | Line 91... | ||
| 91 | int main (void) |
91 | int main (void) |
| 92 | //############################################################################ |
92 | //############################################################################ |
| 93 | { |
93 | { |
| 94 | unsigned int timer; |
94 | unsigned int timer; |
| Line 95... | Line 95... | ||
| 95 | 95 | ||
| 96 | unsigned int timer2 = 0; |
96 | //unsigned int timer2 = 0; |
| 97 | DDRB = 0x00; |
97 | DDRB = 0x00; |
| 98 | PORTB = 0x00; |
98 | PORTB = 0x00; |
| 99 | for(timer = 0; timer < 1000; timer++); // verzögern |
99 | for(timer = 0; timer < 1000; timer++); // verzögern |
| 100 | if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
100 | if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
| Line 121... | Line 121... | ||
| 121 | Timer_Init(); |
121 | Timer_Init(); |
| 122 | UART_Init(); |
122 | UART_Init(); |
| 123 | rc_sum_init(); |
123 | rc_sum_init(); |
| 124 | ADC_Init(); |
124 | ADC_Init(); |
| 125 | i2c_init(); |
125 | i2c_init(); |
| - | 126 | SPI_MasterInit(); |
|
| Line 126... | Line 127... | ||
| 126 | 127 | ||
| Line 127... | Line 128... | ||
| 127 | sei(); |
128 | sei(); |
| 128 | 129 | ||
| Line 180... | Line 181... | ||
| 180 | I2CTimeout = 5000; |
181 | I2CTimeout = 5000; |
| 181 | while (1) |
182 | while (1) |
| 182 | { |
183 | { |
| 183 | if (UpdateMotor) // ReglerIntervall |
184 | if (UpdateMotor) // ReglerIntervall |
| 184 | { |
185 | { |
| - | 186 | SPI_TransmitByte(); |
|
| 185 | UpdateMotor=0; |
187 | UpdateMotor=0; |
| 186 | MotorRegler(); |
188 | MotorRegler(); |
| 187 | SendMotorData(); |
189 | SendMotorData(); |
| 188 | ROT_OFF; |
190 | ROT_OFF; |
| 189 | if(PcZugriff) PcZugriff--; |
191 | if(PcZugriff) PcZugriff--; |
| 190 | if(SenderOkay) SenderOkay--; |
192 | if(SenderOkay) SenderOkay--; |
| Line 218... | Line 220... | ||
| 218 | { |
220 | { |
| 219 | beeptime = 6000; |
221 | beeptime = 6000; |
| 220 | BeepMuster = 0x0300; |
222 | BeepMuster = 0x0300; |
| 221 | } |
223 | } |
| 222 | } |
224 | } |
| - | 225 | SPI_StartTransmitPacket(); |
|
| 223 | timer = SetDelay(100); |
226 | timer = SetDelay(100); |
| 224 | } |
227 | } |
| 225 | } |
228 | } |
| 226 | return (1); |
229 | return (1); |
| 227 | } |
230 | } |