/branches/V0.68d Code Redesign killagreg/main.c |
---|
192,6 → 192,19 |
printf("OK\n\r"); |
} |
#if defined (__AVR_ATmega644P__) |
if(BoardRelease == 10) |
{ |
printf("\n\rSupport for GPS at 1st UART"); |
} |
else |
{ |
printf("\n\rSupport for GPS at 2nd UART"); |
} |
#else // (__AVR_ATmega644__) |
printf("\n\rSupport for GPS at 1st UART"); |
#endif |
SetNeutral(); |
ROT_OFF; |
215,9 → 228,9 |
{ |
//SPI_TransmitByte(); //# |
UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
PORTD |= (1<<PORTD4); |
//PORTD |= (1<<PORTD4); |
MotorControl(); |
PORTD &= ~(1<<PORTD4); |
//PORTD &= ~(1<<PORTD4); |
SendMotorData(); |
ROT_OFF; |
if(PcAccess) PcAccess--; |
/branches/V0.68d Code Redesign killagreg/rc.c |
---|
141,7 → 141,7 |
index++; // next channel |
// demux sum signal for channels 5 to 7 to J3, J4, J5 |
if(index == 5) PORTD |= (1<<PORTD5); else PORTD &= ~(1<<PORTD5); |
//if(index == 6) PORTD |= (1<<PORTD4); else PORTD &= ~(1<<PORTD4); |
if(index == 6) PORTD |= (1<<PORTD4); else PORTD &= ~(1<<PORTD4); |
if(BoardRelease == 10) |
{ |
if(index == 7) PORTD |= (1<<PORTD3); else PORTD &= ~(1<<PORTD3); |
/branches/V0.68d Code Redesign killagreg/uart.c |
---|
17,13 → 17,11 |
#include "fc.h" |
#include "_Settings.h" |
#include "rc.h" |
#if defined (__AVR_ATmega644__) |
#include "ubx.h" |
#endif |
#define FALSE 0 |
#define TRUE 1 |
186,11 → 184,9 |
c = UDR0; // catch the received byte |
// If the ATMEGA644 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
// The ATMEGA644p cpu has a 2nd uart to which the ublox is connected. |
#if defined (__AVR_ATmega644__) |
ubx_parser(c); |
#endif |
// If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
// The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
if(BoardRelease == 10) ubx_parser(c); |
if(rxd_buffer_locked) return; // if txd buffer is locked immediately return |
/branches/V0.68d Code Redesign killagreg/uart1.c |
---|
140,5 → 140,5 |
{ |
uint8_t c; |
c = UDR1; // get data byte |
ubx_parser(c); // and put it into the ubx protocol parser |
if (BoardRelease == 11) ubx_parser(c); // and put it into the ubx protocol parser |
} |