Rev 889 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 889 | Rev 891 | ||
|---|---|---|---|
| Line 145... | Line 145... | ||
| 145 | Timer_Init(); |
145 | Timer_Init(); |
| 146 | UART_Init(); |
146 | UART_Init(); |
| 147 | rc_sum_init(); |
147 | rc_sum_init(); |
| 148 | ADC_Init(); |
148 | ADC_Init(); |
| 149 | i2c_init(); |
149 | i2c_init(); |
| - | 150 | init_MM3(); |
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| 150 | SPI_MasterInit(); |
151 | //SPI_MasterInit(); |
| Line 151... | Line 152... | ||
| 151 | 152 | ||
| Line 152... | Line 153... | ||
| 152 | sei(); |
153 | sei(); |
| 153 | 154 | ||
| Line 179... | Line 180... | ||
| 179 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
180 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| Line 180... | Line 181... | ||
| 180 | 181 | ||
| 181 | //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
182 | //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
| Line -... | Line 183... | ||
| - | 183 | Delay_ms(500); |
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| - | 184 | ||
| - | 185 | //Kompass kalibrieren? |
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| - | 186 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100) |
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| - | 187 | { |
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| - | 188 | printf("\n\rKalibriere Kompass"); |
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| - | 189 | calib_MM3(); |
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| 182 | Delay_ms(500); |
190 | } |
| 183 | 191 | ||
| 184 | //Neutrallage kalibrieren? |
192 | //Neutrallage kalibrieren? |
| 185 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100) |
193 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100) |
| 186 | { |
194 | { |
| Line 273... | Line 281... | ||
| 273 | SPI_StartTransmitPacket(SPI_CMD_VERSION);//# |
281 | SPI_StartTransmitPacket(SPI_CMD_VERSION);//# |
| 274 | SendVersionToNavi = 0; |
282 | SendVersionToNavi = 0; |
| 275 | } |
283 | } |
| 276 | else SPI_StartTransmitPacket(SPI_CMD_VALUE);//# |
284 | else SPI_StartTransmitPacket(SPI_CMD_VALUE);//# |
| 277 | */ |
285 | */ |
| 278 | SPI_StartTransmitPacket();//# |
286 | //SPI_StartTransmitPacket();//# |
| Line 279... | Line 287... | ||
| 279 | 287 | ||
| 280 | SendSPI = 4; |
288 | SendSPI = 4; |
| 281 | timer = SetDelay(20); |
289 | timer = SetDelay(20); |
| 282 | } |
290 | } |
| 283 | //if(UpdateMotor) DebugOut.Analog[26]++; |
291 | //if(UpdateMotor) DebugOut.Analog[26]++; |
| 284 | } |
292 | } |
| 285 | if(!SendSPI) { SPI_TransmitByte(); } |
293 | //if(!SendSPI) { SPI_TransmitByte(); } |
| 286 | } |
294 | } |
| 287 | return (1); |
295 | return (1); |