Rev 889 | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 889 | Rev 891 | ||
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Line 145... | Line 145... | ||
145 | Timer_Init(); |
145 | Timer_Init(); |
146 | UART_Init(); |
146 | UART_Init(); |
147 | rc_sum_init(); |
147 | rc_sum_init(); |
148 | ADC_Init(); |
148 | ADC_Init(); |
149 | i2c_init(); |
149 | i2c_init(); |
- | 150 | init_MM3(); |
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150 | SPI_MasterInit(); |
151 | //SPI_MasterInit(); |
Line 151... | Line 152... | ||
151 | 152 | ||
Line 152... | Line 153... | ||
152 | sei(); |
153 | sei(); |
153 | 154 | ||
Line 179... | Line 180... | ||
179 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
180 | printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
Line 180... | Line 181... | ||
180 | 181 | ||
181 | //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
182 | //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
Line -... | Line 183... | ||
- | 183 | Delay_ms(500); |
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- | 184 | ||
- | 185 | //Kompass kalibrieren? |
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- | 186 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100) |
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- | 187 | { |
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- | 188 | printf("\n\rKalibriere Kompass"); |
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- | 189 | calib_MM3(); |
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182 | Delay_ms(500); |
190 | } |
183 | 191 | ||
184 | //Neutrallage kalibrieren? |
192 | //Neutrallage kalibrieren? |
185 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100) |
193 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100) |
186 | { |
194 | { |
Line 273... | Line 281... | ||
273 | SPI_StartTransmitPacket(SPI_CMD_VERSION);//# |
281 | SPI_StartTransmitPacket(SPI_CMD_VERSION);//# |
274 | SendVersionToNavi = 0; |
282 | SendVersionToNavi = 0; |
275 | } |
283 | } |
276 | else SPI_StartTransmitPacket(SPI_CMD_VALUE);//# |
284 | else SPI_StartTransmitPacket(SPI_CMD_VALUE);//# |
277 | */ |
285 | */ |
278 | SPI_StartTransmitPacket();//# |
286 | //SPI_StartTransmitPacket();//# |
Line 279... | Line 287... | ||
279 | 287 | ||
280 | SendSPI = 4; |
288 | SendSPI = 4; |
281 | timer = SetDelay(20); |
289 | timer = SetDelay(20); |
282 | } |
290 | } |
283 | //if(UpdateMotor) DebugOut.Analog[26]++; |
291 | //if(UpdateMotor) DebugOut.Analog[26]++; |
284 | } |
292 | } |
285 | if(!SendSPI) { SPI_TransmitByte(); } |
293 | //if(!SendSPI) { SPI_TransmitByte(); } |
286 | } |
294 | } |
287 | return (1); |
295 | return (1); |