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Rev 1963 Rev 1964
Line 89... Line 89...
89 
  // disable watchdog
 89 
  // disable watchdog
90 
  MCUSR &= ~(1 << WDRF);
 90 
  MCUSR &= ~(1 << WDRF);
91 
  WDTCSR |= (1 << WDCE) | (1 << WDE);
 91 
  WDTCSR |= (1 << WDCE) | (1 << WDE);
92 
  WDTCSR = 0;
 92 
  WDTCSR = 0;
Line 93... Line -...
93 
 
 - 
 
94 
  // PPM_in[CH_THROTTLE] = 0;
 - 
 
95 
  // Why??? They are already initialized to 0.
 - 
 
96 
  // stickPitch = stickRoll = stickYaw = 0;
 - 
 
97 
 
 - 
 
98 
  RED_OFF;
 - 
 
99 
 
 93 
 
100 
  // initalize modules
 94 
  // initalize modules
101 
  output_init();
 95 
  output_init();
102 
  timer0_init();
 96 
  timer0_init();
103 
  timer2_init();
 97 
  timer2_init();
Line 117... Line 111...
117 
  sei();
 111 
  sei();
Line 118... Line 112...
118 
 
 112 
 
119 
  printf("\n\r===================================");
 113 
  printf("\n\r===================================");
120 
  printf("\n\rFlightControl");
 114 
  printf("\n\rFlightControl");
121 
  printf("\n\rHardware: Custom");
 115 
  printf("\n\rHardware: Custom");
122 
  printf("\r\n     CPU: Atmega644");
 116 
  printf("\n\r     CPU: Atmega644");
123 
  if (CPUType == ATMEGA644P)
 117 
  if (CPUType == ATMEGA644P)
124 
    printf("p");
 118 
    printf("p");
125 
  printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
 119 
  printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
Line 126... Line 120...
126 
  printf("\n\r===================================");
 120 
  printf("\n\r===================================");
127 
 
 121 
 
- 
 
 122 
  // Parameter Set handling
128 
  // Parameter Set handling
 123 
  channelMap_readOrDefault();
Line 129... Line 124...
129 
  channelMap_readOrDefault();
 124 
  mixerMatrix_readOrDefault();
130 
  paramSet_readOrDefault();
 125 
  paramSet_readOrDefault();
131 
 
 126 
 
Line 132... Line 127...
132 
  // Wait for a short time (otherwise the RC channel check won't work below)
 127 
  // Wait for a short time (otherwise the RC channel check won't work below)
133 
  // timer = SetDelay(500);
 128 
  // timer = SetDelay(500);
134 
  // while(!CheckDelay(timer));
 129 
  // while(!CheckDelay(timer));
135 
 
 130 
 
136 
  // Instead, while away the time by flashing the 2 outputs:
 131 
  // Instead, while away the time by flashing the 2 outputs:
137 
  // First J16, then J17. Makes it easier to see which is which.
 132 
  // First J16, then J17. Makes it easier to see which is which.
138 
  timer = setDelay(200);
 133 
  timer = setDelay(200);
139 
  OUTPUT_SET(0,1);
 134 
  outputSet(0,1);
Line 140... Line 135...
140 
  GRN_OFF;
 135 
  GRN_OFF;
141 
  RED_ON;
 136 
  RED_ON;
142 
  while (!checkDelay(timer))
 137 
  while (!checkDelay(timer))
143 
    ;
 138 
    ;
144 
 
 139 
 
145 
  timer = setDelay(200);
 140 
  timer = setDelay(200);
146 
  OUTPUT_SET(0,0);
 141 
  outputSet(0,0);
Line 147... Line 142...
147 
  OUTPUT_SET(1,1);
 142 
  outputSet(1,1);
148 
  RED_OFF;
 143 
  RED_OFF;
149 
  GRN_ON;
 144 
  GRN_ON;
150 
  while (!checkDelay(timer))
 145 
  while (!checkDelay(timer))
- 
 
 146 
    ;
Line 151... Line 147...
151 
    ;
 147 
 
Line 152... Line 148...
152 
 
 148 
  timer = setDelay(200);
Line 186... Line 182...
186 
  Servo_On();
 182 
  Servo_On();
Line 187... Line 183...
187 
 
 183 
 
188 
  // Init flight parameters
 184 
  // Init flight parameters
Line 189... Line -...
189 
  flight_setNeutral();
 - 
 
190 
 
 - 
 
191 
  // RED_OFF;
 185 
  flight_setNeutral();
Line 192... Line 186...
192 
 
 186 
 
193 
  beep(2000);
 187 
  beep(2000);
194 
 
 188 
 
Line 214... Line 208...
214 
        J4HIGH;
 208 
        J4HIGH;
215 
        flight_control();
 209 
        flight_control();
216 
        J4LOW;
 210 
        J4LOW;
Line 217... Line 211...
217 
 
 211 
 
218 
        if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout
 - 
 
219 
          RED_ON;
 212 
        if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout
220 
          if (!I2CTimeout) {
 213 
          if (!I2CTimeout) {
221 
            I2C_Reset();
 214 
            I2C_Reset();
222 
            I2CTimeout = 5;
 215 
            I2CTimeout = 5;
223 
          }
 - 
 
224 
        } else {
 - 
 
225 
          RED_OFF;
 216 
          }
226 
        }
 217 
        }
227 
 
 218 
       
228 
        // Allow Serial Data Transmit if motors must not updated or motors are not running
 219 
        // Allow Serial Data Transmit if motors must not updated or motors are not running
229 
        if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {
 220 
        if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) {
230 
          usart0_TransmitTxData();
 221 
          usart0_TransmitTxData();