Rev 1155 | Rev 1166 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1155 | Rev 1156 | ||
|---|---|---|---|
| Line 152... | Line 152... | ||
| 152 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
152 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| 153 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
153 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
| 154 | ROT_OFF; |
154 | ROT_OFF; |
| Line 155... | Line 155... | ||
| 155 | 155 | ||
| - | 156 | Timer_Init(); |
|
| 156 | Timer_Init(); |
157 | TIMER2_Init(); |
| 157 | UART_Init(); |
158 | UART_Init(); |
| 158 | rc_sum_init(); |
159 | rc_sum_init(); |
| 159 | ADC_Init(); |
160 | ADC_Init(); |
| 160 | i2c_init(); |
161 | i2c_init(); |
| Line 237... | Line 238... | ||
| 237 | WinkelOut.Orientation = 1; |
238 | WinkelOut.Orientation = 1; |
| 238 | while (1) |
239 | while (1) |
| 239 | { |
240 | { |
| 240 | if(UpdateMotor && AdReady) // ReglerIntervall |
241 | if(UpdateMotor && AdReady) // ReglerIntervall |
| 241 | { |
242 | { |
| 242 | J3High; |
243 | //J3High; |
| 243 | UpdateMotor=0; |
244 | UpdateMotor=0; |
| 244 | if(WinkelOut.CalcState) CalMk3Mag(); |
245 | if(WinkelOut.CalcState) CalMk3Mag(); |
| 245 | else MotorRegler(); |
246 | else MotorRegler(); |
| 246 | SendMotorData(); |
247 | SendMotorData(); |
| 247 | ROT_OFF; |
248 | ROT_OFF; |
| 248 | J3Low; |
249 | //J3Low; |
| 249 | if(PcZugriff) PcZugriff--; |
250 | if(PcZugriff) PcZugriff--; |
| 250 | else |
251 | else |
| 251 | { |
252 | { |
| 252 | ExternControl.Config = 0; |
253 | ExternControl.Config = 0; |
| 253 | ExternStickNick = 0; |
254 | ExternStickNick = 0; |