| 98,12 → 98,16 |
|---|
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // make some delay |
| if(PINB & (1<<PINB0)) BoardRelease = 11; |
| if(PINB & (1<<PINB0)) |
| { |
| if(PINB & (1<<PINB1)) BoardRelease = 13; |
| else BoardRelease = 11; |
| } |
| else BoardRelease = 10; |
| |
| // set LED ports as output |
| DDRB |= (1<<DDB1)|(1<<DDB0); |
| ROT_ON; |
| RED_ON; |
| GRN_OFF; |
| |
| // disable watchdog |
| 118,10 → 122,10 |
|---|
| StickRoll = 0; |
| StickNick = 0; |
| |
| ROT_OFF; |
| RED_OFF; |
| |
| // initalize modules |
| LED_Init(); |
| //LED_Init(); Is done within ParamSet_Init() below |
| TIMER0_Init(); |
| TIMER2_Init(); |
| USART0_Init(); |
| 152,6 → 156,7 |
|---|
| VersionInfo.Major = VERSION_MAJOR; |
| VersionInfo.Minor = VERSION_MINOR; |
| VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
| VersionInfo.Hardware = 1; // Flight Control |
| |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a'); |
| printf("\n\r=============================="); |
| 211,7 → 216,7 |
|---|
| |
| SetNeutral(); |
| |
| ROT_OFF; |
| RED_OFF; |
| |
| BeepTime = 2000; |
| ExternControl.Digital[0] = 0x55; |
| 231,7 → 236,7 |
|---|
| { |
| if(UpdateMotor) // control interval |
| { |
| UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
| UpdateMotor = 0; // reset Flag, is enabled every 2 ms by isr of timer0 |
| //PORTD |= (1<<PORTD4); |
| MotorControl(); |
| //PORTD &= ~(1<<PORTD4); |
| 238,7 → 243,7 |
|---|
| |
| SendMotorData(); |
| |
| ROT_OFF; |
| RED_OFF; |
| |
| if(PcAccess) PcAccess--; |
| else |
| 255,7 → 260,7 |
|---|
| { |
| I2CTimeout = 5; |
| I2C_Reset(); |
| if((BeepModulation == 0xFFFF) && MotorsOn) |
| if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) ) |
| { |
| BeepTime = 10000; // 1 second |
| BeepModulation = 0x0080; |
| 264,10 → 269,10 |
|---|
| else |
| { |
| I2CTimeout--; |
| ROT_OFF; |
| RED_OFF; |
| } |
| |
| if(SIO_DEBUG && (!UpdateMotor || !MotorsOn)) |
| if(SIO_DEBUG && (!UpdateMotor || !(MKFlags & MKFLAG_MOTOR_RUN) )) |
| { |
| USART0_TransmitTxData(); |
| USART0_ProcessRxData(); |
| 290,6 → 295,8 |
|---|
| #endif |
| timer = SetDelay(20); // every 20 ms |
| } |
| |
| LED_Update(); |
| } |
| |
| #ifdef USE_NAVICTRL |