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Rev 1964 Rev 1969
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#include "rc.h"
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#include "rc.h"
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#include "analog.h"
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#include "analog.h"
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#include "configuration.h"
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#include "configuration.h"
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#include "printf_P.h"
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#include "printf_P.h"
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#include "twimaster.h"
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#include "twimaster.h"
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#include "controlMixer.h"
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#ifdef USE_NAVICTRL
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#ifdef USE_NAVICTRL
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#include "spi.h"
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#include "spi.h"
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#endif
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#endif
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#ifdef USE_MK3MAG
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#ifdef USE_MK3MAG
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#include "mk3mag.h"
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#include "mk3mag.h"
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  // disable watchdog
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  // disable watchdog
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  MCUSR &= ~(1 << WDRF);
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  MCUSR &= ~(1 << WDRF);
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  WDTCSR |= (1 << WDCE) | (1 << WDE);
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  WDTCSR |= (1 << WDCE) | (1 << WDE);
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  WDTCSR = 0;
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  WDTCSR = 0;
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// This is strange: It should NOT be necessarty to do. But the call of the same,
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// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....
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channelMap_default();
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  // initalize modules
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  // initalize modules
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  output_init();
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  output_init();
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  timer0_init();
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  timer0_init();
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  timer2_init();
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  timer2_init();
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#endif
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#endif
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#ifdef USE_MK3MAG
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#ifdef USE_MK3MAG
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  MK3MAG_Init();
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  MK3MAG_Init();
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#endif
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#endif
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  // Parameter Set handling
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  channelMap_readOrDefault();
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  mixerMatrix_readOrDefault();
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  paramSet_readOrDefault();
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  // enable interrupts global
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  // enable interrupts global
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  sei();
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  sei();
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  if (CPUType == ATMEGA644P)
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  if (CPUType == ATMEGA644P)
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    printf("p");
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    printf("p");
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  printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
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  printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
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  printf("\n\r===================================");
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  printf("\n\r===================================");
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  // Parameter Set handling
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  channelMap_readOrDefault();
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  mixerMatrix_readOrDefault();
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  paramSet_readOrDefault();
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  // Wait for a short time (otherwise the RC channel check won't work below)
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  // Wait for a short time (otherwise the RC channel check won't work below)
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  // timer = SetDelay(500);
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  // timer = SetDelay(500);
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  // while(!CheckDelay(timer));
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  // while(!CheckDelay(timer));