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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt und genannt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <avr/boot.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "main.h"
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#include "timer0.h"
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#include "timer2.h"
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#include "uart.h"
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#if defined (__AVR_ATmega644P__)
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#include "uart1.h"
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#endif
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#include "led.h"
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#include "menu.h"
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#include "ubx.h"
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#include "fc.h"
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#include "rc.h"
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#include "analog.h"
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#include "printf_P.h"
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//#include "spi.h"
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#ifdef USE_MM3
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#include "mm3.h"
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#endif
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#ifdef USE_CMPS03
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#include "cmps03.h"
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#endif
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#include "twimaster.h"
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#include "eeprom.h"
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#include "_Settings.h"
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uint8_t BoardRelease = 10;
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//############################################################################
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//Hauptprogramm
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int main (void)
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//############################################################################
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{
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        unsigned int timer;
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        // disable interrupts global
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        cli();
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        // get board release
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    DDRB  = 0x00;
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    PORTB = 0x00;
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    for(timer = 0; timer < 1000; timer++); // make some delay
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    if(PINB & (1<<PINB0)) BoardRelease = 11;
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    else BoardRelease = 10;
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        // set LED ports as output
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        DDRB |= (1<<DDB1)|(1<<DDB0);
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        ROT_ON;
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        GRN_OFF;
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        // disable watchdog
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    MCUSR &=~(1<<WDRF);
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    WDTCSR |= (1<<WDCE)|(1<<WDE);
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    WDTCSR = 0;
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    BeepTime = 2000;
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        PPM_in[CH_THRUST] = 0;
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        StickYaw = 0;
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        StickRoll = 0;
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        StickPitch = 0;
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    ROT_OFF;
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        // initalize modules
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        LED_Init();
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    TIMER0_Init();
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    TIMER2_Init();
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        USART0_Init();
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#if defined (__AVR_ATmega644P__)
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        if (BoardRelease == 11) USART1_Init();
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#endif
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    RC_Init();
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        ADC_Init();
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        I2C_Init();
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#ifdef USE_MM3
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        MM3_Init();
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#endif
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#ifdef USE_CMPS03
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        CMPS03_Init();
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#endif
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        //SPI_MasterInit();
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        // enable interrupts global
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        sei();
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    VersionInfo.Major = VERSION_MAJOR;
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    VersionInfo.Minor = VERSION_MINOR;
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    VersionInfo.PCCompatible = VERSION_COMPATIBLE;
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        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a');
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        printf("\n\r==============================");
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        GRN_ON;
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        // Parameter set handling
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        ParamSet_Init();
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    if(GetParamWord(PID_ACC_PITCH) > 1023)
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     {
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       printf("\n\rACC not calibrated!");
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     }
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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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        while(!CheckDelay(timer));
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#ifdef USE_MM3
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        printf("\n\rSupport for Compass Module MM3");
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        //Compass calibration?
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        if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100)
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        {
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                printf("\n\rCalibrating Compass");
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                MM3_Calibrate();
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        }
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#endif
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#ifdef USE_CMPS03
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        printf("\n\rSupport for Compass Module CMPS03");
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#endif
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        if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)
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         {
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           printf("\n\rCalibrating air pressure sensor..");
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           timer = SetDelay(1000);
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       SearchAirPressureOffset();
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           while (!CheckDelay(timer));
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       printf("OK\n\r");
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        }
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#if defined (__AVR_ATmega644P__)
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        if(BoardRelease == 10)
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        {
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                printf("\n\rSupport for GPS at 1st UART");
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        }
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        else
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        {
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                printf("\n\rSupport for GPS at 2nd UART");
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        }
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#else // (__AVR_ATmega644__)
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                printf("\n\rSupport for GPS at 1st UART");
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#endif
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        SetNeutral();
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        ROT_OFF;
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    BeepTime = 2000;
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    ExternControl.Digital[0] = 0x55;
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        printf("\n\rControl: ");
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        if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
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        else printf("Neutral");
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        printf("\n\n\r");
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    LCD_Clear();
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    I2CTimeout = 5000;
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        while (1)
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        {
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        if(UpdateMotor)      // control interval
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            {
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            //SPI_TransmitByte(); //#
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                        UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0
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//PORTD |= (1<<PORTD4);
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            MotorControl();
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//PORTD &= ~(1<<PORTD4);
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            SendMotorData();
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            ROT_OFF;
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            if(PcAccess) PcAccess--;
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            else
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              {
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               DubWiseKeys[0] = 0;
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               DubWiseKeys[1] = 0;
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                           ExternControl.Config = 0;
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               ExternStickPitch= 0;
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               ExternStickRoll = 0;
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               ExternStickYaw = 0;
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              }
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              if(!I2CTimeout)
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                {
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                 I2CTimeout = 5;
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                 I2C_Reset();
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                  if((BeepModulation == 0xFFFF) && MotorsOn)
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                   {
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                    BeepTime = 10000; // 1 second
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                    BeepModulation = 0x0080;
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                   }
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                }
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            else
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                {
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                 I2CTimeout--;
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                 ROT_OFF;
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                }
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            if(SIO_DEBUG && !UpdateMotor)
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              {
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               TransmitTxData();
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               ProcessRxData();
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              }
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              else ProcessRxData();
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         if(CheckDelay(timer))
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            {
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            if(UBat < ParamSet.LowVoltageWarning)
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                {
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                  if(BeepModulation == 0xFFFF)
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                   {
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                        BeepTime = 6000; // 0.6 seconds
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                        BeepModulation = 0x0300;
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                   }
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                }
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             //SPI_StartTransmitPacket();//#
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                         timer = SetDelay(100);
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            }
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          }
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    }
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 return (1);
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}
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