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| Rev 690 | Rev 694 | ||
|---|---|---|---|
| Line 62... | Line 62... | ||
| 62 | #include "menu.h" |
62 | #include "menu.h" |
| 63 | #include "fc.h" |
63 | #include "fc.h" |
| 64 | #include "rc.h" |
64 | #include "rc.h" |
| 65 | #include "analog.h" |
65 | #include "analog.h" |
| 66 | #include "printf_P.h" |
66 | #include "printf_P.h" |
| 67 | #include "spi.h" |
67 | //#include "spi.h" |
| - | 68 | #include "mm3.h" |
|
| 68 | #include "twimaster.h" |
69 | #include "twimaster.h" |
| 69 | #include "eeprom.h" |
70 | #include "eeprom.h" |
| 70 | #include "_Settings.h" |
71 | #include "_Settings.h" |
| Line 120... | Line 121... | ||
| 120 | USART0_Init(); |
121 | USART0_Init(); |
| 121 | USART1_Init(); |
122 | USART1_Init(); |
| 122 | rc_sum_init(); |
123 | rc_sum_init(); |
| 123 | ADC_Init(); |
124 | ADC_Init(); |
| 124 | i2c_init(); |
125 | i2c_init(); |
| - | 126 | MM3_init(); |
|
| 125 | //SPI_MasterInit(); |
127 | //SPI_MasterInit(); |
| Line 126... | Line 128... | ||
| 126 | 128 | ||
| 127 | // enable interrupts global |
129 | // enable interrupts global |
| Line 141... | Line 143... | ||
| 141 | if(GetParamByte(PID_ACC_NICK) > 4) |
143 | if(GetParamByte(PID_ACC_NICK) > 4) |
| 142 | { |
144 | { |
| 143 | printf("\n\rACC nicht abgeglichen!"); |
145 | printf("\n\rACC nicht abgeglichen!"); |
| 144 | } |
146 | } |
| Line -... | Line 147... | ||
| - | 147 | ||
| - | 148 | //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
|
| - | 149 | timer = SetDelay(500); |
|
| - | 150 | while(!CheckDelay(timer)); |
|
| - | 151 | ||
| - | 152 | //Compass calibration? |
|
| - | 153 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 100) |
|
| - | 154 | { |
|
| - | 155 | printf("\n\rCalibrating Compass"); |
|
| - | 156 | MM3_calibrate(); |
|
| - | 157 | } |
|
| Line 145... | Line 158... | ||
| 145 | 158 | ||
| 146 | 159 | ||
| 147 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
160 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| 148 | { |
161 | { |
| Line 171... | Line 184... | ||
| 171 | I2CTimeout = 5000; |
184 | I2CTimeout = 5000; |
| 172 | while (1) |
185 | while (1) |
| 173 | { |
186 | { |
| 174 | if(UpdateMotor) // ReglerIntervall |
187 | if(UpdateMotor) // ReglerIntervall |
| 175 | { |
188 | { |
| 176 | SPI_TransmitByte(); //# |
189 | //SPI_TransmitByte(); //# |
| 177 | UpdateMotor=0; |
190 | UpdateMotor=0; |
| 178 | //PORTD |= 0x08; |
191 | //PORTD |= 0x08; |
| 179 | MotorRegler(); |
192 | MotorRegler(); |
| Line 180... | Line 193... | ||
| 180 | 193 | ||
| Line 221... | Line 234... | ||
| 221 | { |
234 | { |
| 222 | BeepTime = 6000; // 0.6 seconds |
235 | BeepTime = 6000; // 0.6 seconds |
| 223 | BeepModulation = 0x0300; |
236 | BeepModulation = 0x0300; |
| 224 | } |
237 | } |
| 225 | } |
238 | } |
| 226 | SPI_StartTransmitPacket();//# |
239 | //SPI_StartTransmitPacket();//# |
| 227 | timer = SetDelay(100); |
240 | timer = SetDelay(100); |
| 228 | } |
241 | } |
| 229 | //if(UpdateMotor) DebugOut.Analog[26]++; |
242 | //if(UpdateMotor) DebugOut.Analog[26]++; |
| 230 | } |
243 | } |
| 231 | } |
244 | } |