Rev 2018 | Rev 2049 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2018 | Rev 2039 | ||
|---|---|---|---|
| Line 70... | Line 70... | ||
| 70 | #include "twimaster.h" |
70 | #include "twimaster.h" |
| 71 | #include "controlMixer.h" |
71 | #include "controlMixer.h" |
| 72 | #ifdef USE_NAVICTRL |
72 | #ifdef USE_NAVICTRL |
| 73 | #include "spi.h" |
73 | #include "spi.h" |
| 74 | #endif |
74 | #endif |
| 75 | #ifdef USE_MK3MAG |
75 | #ifdef USE_DIRECT_GPS |
| 76 | #include "mk3mag.h" |
76 | #include "mk3mag.h" |
| 77 | #endif |
77 | #endif |
| 78 | #include "eeprom.h" |
78 | #include "eeprom.h" |
| Line 79... | Line 79... | ||
| 79 | 79 | ||
| Line 106... | Line 106... | ||
| 106 | analog_init(); |
106 | analog_init(); |
| 107 | I2C_init(); |
107 | I2C_init(); |
| 108 | #ifdef USE_NAVICTRL |
108 | #ifdef USE_NAVICTRL |
| 109 | SPI_MasterInit(); |
109 | SPI_MasterInit(); |
| 110 | #endif |
110 | #endif |
| 111 | #ifdef USE_MK3MAG |
111 | #ifdef USE_DIRECT_GPS |
| 112 | MK3MAG_Init(); |
112 | MK3MAG_init(); |
| - | 113 | usart1_init(); |
|
| 113 | #endif |
114 | #endif |
| Line 114... | Line 115... | ||
| 114 | 115 | ||
| 115 | // Parameter Set handling |
116 | // Parameter Set handling |
| 116 | channelMap_readOrDefault(); |
117 | channelMap_readOrDefault(); |
| Line 160... | Line 161... | ||
| 160 | 161 | ||
| Line 161... | Line 162... | ||
| 161 | printf("\n\r==================================="); |
162 | printf("\n\r==================================="); |
| 162 | 163 | ||
| 163 | #ifdef USE_NAVICTRL |
- | |
| 164 | printf("\n\rSupport for NaviCtrl"); |
- | |
| 165 | #ifdef USE_RC_DSL |
- | |
| 166 | printf("\r\nSupport for DSL RC at 2nd UART"); |
- | |
| 167 | #endif |
- | |
| 168 | #ifdef USE_RC_SPECTRUM |
- | |
| 169 | printf("\r\nSupport for SPECTRUM RC at 2nd UART"); |
- | |
| 170 | #endif |
- | |
| 171 | #endif |
- | |
| 172 | - | ||
| 173 | #ifdef USE_MK3MAG |
164 | #ifdef USE_NAVICTRL |
| Line 174... | Line 165... | ||
| 174 | printf("\n\rSupport for MK3MAG Compass"); |
165 | printf("\n\rSupport for NaviCtrl"); |
| 175 | #endif |
166 | #endif |
| 176 | - | ||
| 177 | #if (defined (USE_MK3MAG)) |
167 | |
| Line 178... | Line 168... | ||
| 178 | if(CPUType == ATMEGA644P) printf("\n\r2 UART"); |
168 | #ifdef USE_DIRECT_GPS |
| Line 179... | Line 169... | ||
| 179 | else printf("\n\r1 UART"); |
169 | printf("\n\rDirect (no NaviCtrl) navigation"); |
| Line 208... | Line 198... | ||
| 208 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
198 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
| 209 | } else { |
199 | } else { |
| 210 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
200 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
| Line 211... | Line 201... | ||
| 211 | 201 | ||
| - | 202 | J4HIGH; |
|
| - | 203 | calculateFlightAttitude(); |
|
| 212 | J4HIGH; |
204 | controlMixer_periodicTask(); |
| 213 | flight_control(); |
205 | flight_control(); |
| Line 214... | Line 206... | ||
| 214 | J4LOW; |
206 | J4LOW; |
| 215 | 207 | ||