| 64,7 → 64,8 |
|---|
| #include "rc.h" |
| #include "analog.h" |
| #include "printf_P.h" |
| #include "spi.h" |
| //#include "spi.h" |
| #include "mm3.h" |
| #include "twimaster.h" |
| #include "eeprom.h" |
| #include "_Settings.h" |
| 122,6 → 123,7 |
|---|
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| MM3_init(); |
| //SPI_MasterInit(); |
| |
| // enable interrupts global |
| 143,7 → 145,18 |
|---|
| printf("\n\rACC nicht abgeglichen!"); |
| } |
| |
| //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
| timer = SetDelay(500); |
| while(!CheckDelay(timer)); |
| |
| //Compass calibration? |
| if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 100) |
| { |
| printf("\n\rCalibrating Compass"); |
| MM3_calibrate(); |
| } |
| |
| |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| 173,7 → 186,7 |
|---|
| { |
| if(UpdateMotor) // ReglerIntervall |
| { |
| SPI_TransmitByte(); //# |
| //SPI_TransmitByte(); //# |
| UpdateMotor=0; |
| //PORTD |= 0x08; |
| MotorRegler(); |
| 223,7 → 236,7 |
|---|
| BeepModulation = 0x0300; |
| } |
| } |
| SPI_StartTransmitPacket();//# |
| //SPI_StartTransmitPacket();//# |
| timer = SetDelay(100); |
| } |
| //if(UpdateMotor) DebugOut.Analog[26]++; |