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Rev 690 | Rev 694 | ||
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Line 62... | Line 62... | ||
62 | #include "menu.h" |
62 | #include "menu.h" |
63 | #include "fc.h" |
63 | #include "fc.h" |
64 | #include "rc.h" |
64 | #include "rc.h" |
65 | #include "analog.h" |
65 | #include "analog.h" |
66 | #include "printf_P.h" |
66 | #include "printf_P.h" |
67 | #include "spi.h" |
67 | //#include "spi.h" |
- | 68 | #include "mm3.h" |
|
68 | #include "twimaster.h" |
69 | #include "twimaster.h" |
69 | #include "eeprom.h" |
70 | #include "eeprom.h" |
70 | #include "_Settings.h" |
71 | #include "_Settings.h" |
Line 120... | Line 121... | ||
120 | USART0_Init(); |
121 | USART0_Init(); |
121 | USART1_Init(); |
122 | USART1_Init(); |
122 | rc_sum_init(); |
123 | rc_sum_init(); |
123 | ADC_Init(); |
124 | ADC_Init(); |
124 | i2c_init(); |
125 | i2c_init(); |
- | 126 | MM3_init(); |
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125 | //SPI_MasterInit(); |
127 | //SPI_MasterInit(); |
Line 126... | Line 128... | ||
126 | 128 | ||
127 | // enable interrupts global |
129 | // enable interrupts global |
Line 141... | Line 143... | ||
141 | if(GetParamByte(PID_ACC_NICK) > 4) |
143 | if(GetParamByte(PID_ACC_NICK) > 4) |
142 | { |
144 | { |
143 | printf("\n\rACC nicht abgeglichen!"); |
145 | printf("\n\rACC nicht abgeglichen!"); |
144 | } |
146 | } |
Line -... | Line 147... | ||
- | 147 | ||
- | 148 | //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
|
- | 149 | timer = SetDelay(500); |
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- | 150 | while(!CheckDelay(timer)); |
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- | 151 | ||
- | 152 | //Compass calibration? |
|
- | 153 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 100) |
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- | 154 | { |
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- | 155 | printf("\n\rCalibrating Compass"); |
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- | 156 | MM3_calibrate(); |
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- | 157 | } |
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Line 145... | Line 158... | ||
145 | 158 | ||
146 | 159 | ||
147 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
160 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
148 | { |
161 | { |
Line 171... | Line 184... | ||
171 | I2CTimeout = 5000; |
184 | I2CTimeout = 5000; |
172 | while (1) |
185 | while (1) |
173 | { |
186 | { |
174 | if(UpdateMotor) // ReglerIntervall |
187 | if(UpdateMotor) // ReglerIntervall |
175 | { |
188 | { |
176 | SPI_TransmitByte(); //# |
189 | //SPI_TransmitByte(); //# |
177 | UpdateMotor=0; |
190 | UpdateMotor=0; |
178 | //PORTD |= 0x08; |
191 | //PORTD |= 0x08; |
179 | MotorRegler(); |
192 | MotorRegler(); |
Line 180... | Line 193... | ||
180 | 193 | ||
Line 221... | Line 234... | ||
221 | { |
234 | { |
222 | BeepTime = 6000; // 0.6 seconds |
235 | BeepTime = 6000; // 0.6 seconds |
223 | BeepModulation = 0x0300; |
236 | BeepModulation = 0x0300; |
224 | } |
237 | } |
225 | } |
238 | } |
226 | SPI_StartTransmitPacket();//# |
239 | //SPI_StartTransmitPacket();//# |
227 | timer = SetDelay(100); |
240 | timer = SetDelay(100); |
228 | } |
241 | } |
229 | //if(UpdateMotor) DebugOut.Analog[26]++; |
242 | //if(UpdateMotor) DebugOut.Analog[26]++; |
230 | } |
243 | } |
231 | } |
244 | } |