Rev 756 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 756 | Rev 757 | ||
|---|---|---|---|
| Line 190... | Line 190... | ||
| 190 | SearchAirPressureOffset(); |
190 | SearchAirPressureOffset(); |
| 191 | while (!CheckDelay(timer)); |
191 | while (!CheckDelay(timer)); |
| 192 | printf("OK\n\r"); |
192 | printf("OK\n\r"); |
| 193 | } |
193 | } |
| Line -... | Line 194... | ||
| - | 194 | ||
| - | 195 | #if defined (__AVR_ATmega644P__) |
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| - | 196 | if(BoardRelease == 10) |
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| - | 197 | { |
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| - | 198 | printf("\n\rSupport for GPS at 1st UART"); |
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| - | 199 | } |
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| - | 200 | else |
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| - | 201 | { |
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| - | 202 | printf("\n\rSupport for GPS at 2nd UART"); |
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| - | 203 | } |
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| - | 204 | #else // (__AVR_ATmega644__) |
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| - | 205 | printf("\n\rSupport for GPS at 1st UART"); |
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| - | 206 | #endif |
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| 194 | 207 | ||
| Line 195... | Line 208... | ||
| 195 | SetNeutral(); |
208 | SetNeutral(); |
| Line 196... | Line 209... | ||
| 196 | 209 | ||
| Line 213... | Line 226... | ||
| 213 | { |
226 | { |
| 214 | if(UpdateMotor) // control interval |
227 | if(UpdateMotor) // control interval |
| 215 | { |
228 | { |
| 216 | //SPI_TransmitByte(); //# |
229 | //SPI_TransmitByte(); //# |
| 217 | UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
230 | UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
| 218 | PORTD |= (1<<PORTD4); |
231 | //PORTD |= (1<<PORTD4); |
| 219 | MotorControl(); |
232 | MotorControl(); |
| 220 | PORTD &= ~(1<<PORTD4); |
233 | //PORTD &= ~(1<<PORTD4); |
| 221 | SendMotorData(); |
234 | SendMotorData(); |
| 222 | ROT_OFF; |
235 | ROT_OFF; |
| 223 | if(PcAccess) PcAccess--; |
236 | if(PcAccess) PcAccess--; |
| 224 | else |
237 | else |
| 225 | { |
238 | { |