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| Rev 595 | Rev 597 | ||
|---|---|---|---|
| Line 119... | Line 119... | ||
| 119 | Timer_Init(); |
119 | Timer_Init(); |
| 120 | UART_Init(); |
120 | UART_Init(); |
| 121 | rc_sum_init(); |
121 | rc_sum_init(); |
| 122 | ADC_Init(); |
122 | ADC_Init(); |
| 123 | i2c_init(); |
123 | i2c_init(); |
| 124 | // SPI_MasterInit(); |
124 | SPI_MasterInit(); |
| Line 125... | Line 125... | ||
| 125 | 125 | ||
| Line 126... | Line 126... | ||
| 126 | sei(); |
126 | sei(); |
| 127 | 127 | ||
| Line 185... | Line 185... | ||
| 185 | I2CTimeout = 5000; |
185 | I2CTimeout = 5000; |
| 186 | while (1) |
186 | while (1) |
| 187 | { |
187 | { |
| 188 | if (UpdateMotor) // ReglerIntervall |
188 | if (UpdateMotor) // ReglerIntervall |
| 189 | { |
189 | { |
| 190 | // SPI_TransmitByte(); |
190 | SPI_TransmitByte(); //# |
| 191 | UpdateMotor=0; |
191 | UpdateMotor=0; |
| 192 | //PORTD |= 0x08; |
192 | //PORTD |= 0x08; |
| 193 | MotorRegler(); |
193 | MotorRegler(); |
| 194 | //PORTD &= ~0x08; |
194 | //PORTD &= ~0x08; |
| 195 | SendMotorData(); |
195 | SendMotorData(); |
| Line 235... | Line 235... | ||
| 235 | { |
235 | { |
| 236 | beeptime = 6000; |
236 | beeptime = 6000; |
| 237 | BeepMuster = 0x0300; |
237 | BeepMuster = 0x0300; |
| 238 | } |
238 | } |
| 239 | } |
239 | } |
| - | 240 | ||
| 240 | // SPI_StartTransmitPacket(); |
241 | SPI_StartTransmitPacket();//# |
| 241 | timer = SetDelay(100); |
242 | timer = SetDelay(100); |
| 242 | } |
243 | } |
| 243 | } |
244 | } |
| 244 | return (1); |
245 | return (1); |
| 245 | } |
246 | } |