/branches/V0.68d Code Redesign killagreg/main.c |
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58,7 → 58,9 |
#include "timer0.h" |
#include "timer2.h" |
#include "uart.h" |
#if defined (__AVR_ATmega644P__) |
#include "uart1.h" |
#endif |
#include "menu.h" |
#include "ubx.h" |
#include "fc.h" |
95,7 → 97,7 |
DDRB = 0x00; |
PORTB = 0x00; |
for(timer = 0; timer < 1000; timer++); // make some delay |
if(PINB & (1<<PINB1)) BoardRelease = 11; |
if(PINB & (1<<PINB0)) BoardRelease = 11; |
else BoardRelease = 10; |
// set LED ports as output |
127,7 → 129,7 |
TIMER2_Init(); |
USART0_Init(); |
#if defined (__AVR_ATmega644p__) |
#if defined (__AVR_ATmega644P__) |
if (BoardRelease == 11) USART1_Init(); |
#endif |
213,10 → 215,9 |
{ |
//SPI_TransmitByte(); //# |
UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
//PORTD |= 0x08; |
PORTD |= (1<<PORTD4); |
MotorControl(); |
//PORTD &= ~0x08; |
PORTD &= ~(1<<PORTD4); |
SendMotorData(); |
ROT_OFF; |
if(PcAccess) PcAccess--; |
/branches/V0.68d Code Redesign killagreg/makefile |
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19,12 → 19,12 |
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
#FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
# -u bei neuen Controllern wieder einspielen |
HEX_NAME = MEGA644 |
HEX_NAME = MEGA644_$(COMPASS) |
endif |
ifeq ($(MCU), atmega644p) |
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
HEX_NAME = MEGA644p |
HEX_NAME = MEGA644p_$(COMPASS) |
endif |
37,12 → 37,10 |
endif |
ifeq ($(COMPASS), MM3) |
HEX_NAME +=MM3 |
CFLAGS += -DUSE_MM3 |
endif |
ifeq ($(COMPASS), CMPS03) |
HEX_NAME +=CMPS03 |
CFLAGS += -DUSE_CMPS03 |
endif |
83,7 → 81,10 |
########################################################################################################## |
# List C source files here. (C dependencies are automatically generated.) |
SRC = main.c uart.c printf_P.c timer0.c timer2.c analog.c menu.c |
SRC += twimaster.c rc.c fc.c GPS.c spi.c eeprom.c |
SRC += twimaster.c rc.c fc.c GPS.c spi.c eeprom.c mymath.c ubx.c fifo.c |
ifeq ($(MCU), atmega644p) |
SRC += uart1.c |
endif |
ifeq ($(COMPASS), MM3) |
SRC +=mm3.c |
endif |
90,10 → 91,6 |
ifeq ($(COMPASS), CMPS03) |
SRC +=cmps03.c |
endif |
SRC += mymath.c ubx.c fifo.c |
ifeq ($(MCU), atmega644p) |
SRC += uart1.c |
endif |
########################################################################################################## |
/branches/V0.68d Code Redesign killagreg/rc.c |
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36,9 → 36,9 |
// Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
// set as output |
DDRD |= (1<<DDD5)|(1<<DDD4)|(1<<DDD3); |
DDRD |= (1<<DDD5)|(1<<DDD4); |
// low level |
PORTD &= ~((1<<PORTD5)|(1<<PORTD4)|(1<<PORTD3)); |
PORTD &= ~((1<<PORTD5)|(1<<PORTD4)); |
// PD3 can't be used in FC 1.1 if 2nd UART is activated |
// becouse TXD1 is at that port |
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); |