Rev 935 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 935 | Rev 936 | ||
|---|---|---|---|
| Line 96... | Line 96... | ||
| 96 | 96 | ||
| 97 | // get board release |
97 | // get board release |
| 98 | DDRB = 0x00; |
98 | DDRB = 0x00; |
| 99 | PORTB = 0x00; |
99 | PORTB = 0x00; |
| - | 100 | for(timer = 0; timer < 1000; timer++); // make some delay |
|
| - | 101 | if(PINB & (1<<PINB0)) |
|
| 100 | for(timer = 0; timer < 1000; timer++); // make some delay |
102 | { |
| - | 103 | if(PINB & (1<<PINB1)) BoardRelease = 13; |
|
| - | 104 | else BoardRelease = 11; |
|
| 101 | if(PINB & (1<<PINB0)) BoardRelease = 11; |
105 | } |
| Line 102... | Line 106... | ||
| 102 | else BoardRelease = 10; |
106 | else BoardRelease = 10; |
| 103 | 107 | ||
| 104 | // set LED ports as output |
108 | // set LED ports as output |
| 105 | DDRB |= (1<<DDB1)|(1<<DDB0); |
109 | DDRB |= (1<<DDB1)|(1<<DDB0); |
| Line 106... | Line 110... | ||
| 106 | ROT_ON; |
110 | RED_ON; |
| 107 | GRN_OFF; |
111 | GRN_OFF; |
| 108 | 112 | ||
| Line 116... | Line 120... | ||
| 116 | PPM_in[CH_GAS] = 0; |
120 | PPM_in[CH_GAS] = 0; |
| 117 | StickYaw = 0; |
121 | StickYaw = 0; |
| 118 | StickRoll = 0; |
122 | StickRoll = 0; |
| 119 | StickNick = 0; |
123 | StickNick = 0; |
| Line 120... | Line 124... | ||
| 120 | 124 | ||
| Line 121... | Line 125... | ||
| 121 | ROT_OFF; |
125 | RED_OFF; |
| 122 | 126 | ||
| 123 | // initalize modules |
127 | // initalize modules |
| 124 | LED_Init(); |
128 | //LED_Init(); Is done within ParamSet_Init() below |
| 125 | TIMER0_Init(); |
129 | TIMER0_Init(); |
| Line 126... | Line 130... | ||
| 126 | TIMER2_Init(); |
130 | TIMER2_Init(); |
| Line 150... | Line 154... | ||
| 150 | sei(); |
154 | sei(); |
| Line 151... | Line 155... | ||
| 151 | 155 | ||
| 152 | VersionInfo.Major = VERSION_MAJOR; |
156 | VersionInfo.Major = VERSION_MAJOR; |
| 153 | VersionInfo.Minor = VERSION_MINOR; |
157 | VersionInfo.Minor = VERSION_MINOR; |
| - | 158 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
|
| Line 154... | Line 159... | ||
| 154 | VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
159 | VersionInfo.Hardware = 1; // Flight Control |
| 155 | 160 | ||
| 156 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a'); |
161 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a'); |
| Line 209... | Line 214... | ||
| 209 | 214 | ||
| Line 210... | Line 215... | ||
| 210 | 215 | ||
| Line 211... | Line 216... | ||
| 211 | 216 | ||
| 212 | SetNeutral(); |
217 | SetNeutral(); |
| Line 229... | Line 234... | ||
| 229 | 234 | ||
| 230 | while (1) |
235 | while (1) |
| 231 | { |
236 | { |
| 232 | if(UpdateMotor) // control interval |
237 | if(UpdateMotor) // control interval |
| 233 | { |
238 | { |
| 234 | UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
239 | UpdateMotor = 0; // reset Flag, is enabled every 2 ms by isr of timer0 |
| 235 | //PORTD |= (1<<PORTD4); |
240 | //PORTD |= (1<<PORTD4); |
| 236 | MotorControl(); |
241 | MotorControl(); |
| Line 237... | Line 242... | ||
| 237 | //PORTD &= ~(1<<PORTD4); |
242 | //PORTD &= ~(1<<PORTD4); |
| Line 238... | Line 243... | ||
| 238 | 243 | ||
| Line 239... | Line 244... | ||
| 239 | SendMotorData(); |
244 | SendMotorData(); |
| 240 | 245 | ||
| 241 | ROT_OFF; |
246 | RED_OFF; |
| 242 | 247 | ||
| Line 253... | Line 258... | ||
| 253 | 258 | ||
| 254 | if(!I2CTimeout) |
259 | if(!I2CTimeout) |
| 255 | { |
260 | { |
| 256 | I2CTimeout = 5; |
261 | I2CTimeout = 5; |
| 257 | I2C_Reset(); |
262 | I2C_Reset(); |
| 258 | if((BeepModulation == 0xFFFF) && MotorsOn) |
263 | if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) ) |
| 259 | { |
264 | { |
| 260 | BeepTime = 10000; // 1 second |
265 | BeepTime = 10000; // 1 second |
| 261 | BeepModulation = 0x0080; |
266 | BeepModulation = 0x0080; |
| 262 | } |
267 | } |
| 263 | } |
268 | } |
| 264 | else |
269 | else |
| 265 | { |
270 | { |
| 266 | I2CTimeout--; |
271 | I2CTimeout--; |
| 267 | ROT_OFF; |
272 | RED_OFF; |
| Line 268... | Line 273... | ||
| 268 | } |
273 | } |
| 269 | 274 | ||
| 270 | if(SIO_DEBUG && (!UpdateMotor || !MotorsOn)) |
275 | if(SIO_DEBUG && (!UpdateMotor || !(MKFlags & MKFLAG_MOTOR_RUN) )) |
| 271 | { |
276 | { |
| 272 | USART0_TransmitTxData(); |
277 | USART0_TransmitTxData(); |
| 273 | USART0_ProcessRxData(); |
278 | USART0_ProcessRxData(); |
| Line 288... | Line 293... | ||
| 288 | SPI_StartTransmitPacket(); |
293 | SPI_StartTransmitPacket(); |
| 289 | SendSPI = 4; |
294 | SendSPI = 4; |
| 290 | #endif |
295 | #endif |
| 291 | timer = SetDelay(20); // every 20 ms |
296 | timer = SetDelay(20); // every 20 ms |
| 292 | } |
297 | } |
| - | 298 | ||
| - | 299 | LED_Update(); |
|
| 293 | } |
300 | } |
| Line 294... | Line 301... | ||
| 294 | 301 | ||
| 295 | #ifdef USE_NAVICTRL |
302 | #ifdef USE_NAVICTRL |
| 296 | if(!SendSPI) |
303 | if(!SendSPI) |