85,24 → 85,18 |
// disable interrupts global |
cli(); |
|
// get board release |
DDRB = 0x00; |
PORTB = 0x00; |
for(timer = 0; timer < 1000; timer++); // make delay |
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|
if(PINB & 0x01) BoardRelease = 11; |
else BoardRelease = 10; |
|
DDRC = 0x81; // SCL & Speaker |
PORTC = 0xff; // Pullup SDA |
DDRB = 0x1B; // LEDs und Druckoffset |
PORTB = 0x01; // LED_Rot |
DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
DDRD |=0x80; // J7 |
// Set LED Ports as output |
DDRB |= (1<<DDB1)|(1<<DDB0); |
ROT_ON; |
GRN_OFF; |
|
PORTD = 0xF7; // LED |
|
|
MCUSR &=~(1<<WDRF); |
WDTCSR |= (1<<WDCE)|(1<<WDE); |
WDTCSR = 0; |
116,11 → 110,12 |
|
ROT_OFF; |
|
// initalize modules |
TIMER0_Init(); |
TIMER2_Init(); |
USART0_Init(); |
if (BoardRelease == 11) USART1_Init(); |
rc_sum_init(); |
RC_Init(); |
ADC_Init(); |
i2c_init(); |
MM3_init(); |
185,18 → 180,18 |
I2CTimeout = 5000; |
while (1) |
{ |
if(UpdateMotor) // ReglerIntervall |
if(UpdateMotor) // control interval |
{ |
//SPI_TransmitByte(); //# |
UpdateMotor=0; |
UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
//PORTD |= 0x08; |
MotorRegler(); |
MotorControl(); |
|
//PORTD &= ~0x08; |
SendMotorData(); |
ROT_OFF; |
if(PcAccess) PcAccess--; |
else |
else |
{ |
DubWiseKeys[0] = 0; |
DubWiseKeys[1] = 0; |