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Rev 1964 | Rev 1969 | ||
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Line 66... | Line 66... | ||
66 | #include "rc.h" |
66 | #include "rc.h" |
67 | #include "analog.h" |
67 | #include "analog.h" |
68 | #include "configuration.h" |
68 | #include "configuration.h" |
69 | #include "printf_P.h" |
69 | #include "printf_P.h" |
70 | #include "twimaster.h" |
70 | #include "twimaster.h" |
- | 71 | #include "controlMixer.h" |
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71 | #ifdef USE_NAVICTRL |
72 | #ifdef USE_NAVICTRL |
72 | #include "spi.h" |
73 | #include "spi.h" |
73 | #endif |
74 | #endif |
74 | #ifdef USE_MK3MAG |
75 | #ifdef USE_MK3MAG |
75 | #include "mk3mag.h" |
76 | #include "mk3mag.h" |
Line 89... | Line 90... | ||
89 | // disable watchdog |
90 | // disable watchdog |
90 | MCUSR &= ~(1 << WDRF); |
91 | MCUSR &= ~(1 << WDRF); |
91 | WDTCSR |= (1 << WDCE) | (1 << WDE); |
92 | WDTCSR |= (1 << WDCE) | (1 << WDE); |
92 | WDTCSR = 0; |
93 | WDTCSR = 0; |
Line -... | Line 94... | ||
- | 94 | ||
- | 95 | // This is strange: It should NOT be necessarty to do. But the call of the same, |
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- | 96 | // in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,.... |
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- | 97 | channelMap_default(); |
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93 | 98 | ||
94 | // initalize modules |
99 | // initalize modules |
95 | output_init(); |
100 | output_init(); |
96 | timer0_init(); |
101 | timer0_init(); |
97 | timer2_init(); |
102 | timer2_init(); |
Line 105... | Line 110... | ||
105 | #endif |
110 | #endif |
106 | #ifdef USE_MK3MAG |
111 | #ifdef USE_MK3MAG |
107 | MK3MAG_Init(); |
112 | MK3MAG_Init(); |
108 | #endif |
113 | #endif |
Line -... | Line 114... | ||
- | 114 | ||
- | 115 | // Parameter Set handling |
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- | 116 | channelMap_readOrDefault(); |
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- | 117 | mixerMatrix_readOrDefault(); |
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- | 118 | paramSet_readOrDefault(); |
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109 | 119 | ||
110 | // enable interrupts global |
120 | // enable interrupts global |
Line 111... | Line 121... | ||
111 | sei(); |
121 | sei(); |
112 | 122 | ||
Line 117... | Line 127... | ||
117 | if (CPUType == ATMEGA644P) |
127 | if (CPUType == ATMEGA644P) |
118 | printf("p"); |
128 | printf("p"); |
119 | printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
129 | printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
120 | printf("\n\r==================================="); |
130 | printf("\n\r==================================="); |
Line 121... | Line -... | ||
121 | - | ||
122 | // Parameter Set handling |
- | |
123 | channelMap_readOrDefault(); |
- | |
124 | mixerMatrix_readOrDefault(); |
- | |
125 | paramSet_readOrDefault(); |
- | |
126 | 131 | ||
127 | // Wait for a short time (otherwise the RC channel check won't work below) |
132 | // Wait for a short time (otherwise the RC channel check won't work below) |
128 | // timer = SetDelay(500); |
133 | // timer = SetDelay(500); |
Line 129... | Line 134... | ||
129 | // while(!CheckDelay(timer)); |
134 | // while(!CheckDelay(timer)); |