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Rev 707 | Rev 712 | ||
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Line 83... | Line 83... | ||
83 | unsigned int timer; |
83 | unsigned int timer; |
Line 84... | Line 84... | ||
84 | 84 | ||
85 | // disable interrupts global |
85 | // disable interrupts global |
Line -... | Line 86... | ||
- | 86 | cli(); |
|
86 | cli(); |
87 | |
87 | 88 | // get board release |
|
88 | DDRB = 0x00; |
89 | DDRB = 0x00; |
89 | PORTB = 0x00; |
- | |
90 | for(timer = 0; timer < 1000; timer++); // make delay |
- | |
91 | 90 | PORTB = 0x00; |
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92 | 91 | for(timer = 0; timer < 1000; timer++); // make delay |
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Line 93... | Line -... | ||
93 | if(PINB & 0x01) BoardRelease = 11; |
- | |
94 | else BoardRelease = 10; |
92 | if(PINB & 0x01) BoardRelease = 11; |
95 | - | ||
96 | DDRC = 0x81; // SCL & Speaker |
93 | else BoardRelease = 10; |
97 | PORTC = 0xff; // Pullup SDA |
- | |
98 | DDRB = 0x1B; // LEDs und Druckoffset |
94 | |
99 | PORTB = 0x01; // LED_Rot |
- | |
100 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
95 | // Set LED Ports as output |
101 | DDRD |=0x80; // J7 |
- | |
Line 102... | Line 96... | ||
102 | 96 | DDRB |= (1<<DDB1)|(1<<DDB0); |
|
103 | PORTD = 0xF7; // LED |
97 | ROT_ON; |
104 | 98 | GRN_OFF; |
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Line 114... | Line 108... | ||
114 | StickRoll = 0; |
108 | StickRoll = 0; |
115 | StickPitch = 0; |
109 | StickPitch = 0; |
Line 116... | Line 110... | ||
116 | 110 | ||
Line -... | Line 111... | ||
- | 111 | ROT_OFF; |
|
117 | ROT_OFF; |
112 | |
118 | 113 | // initalize modules |
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119 | TIMER0_Init(); |
114 | TIMER0_Init(); |
120 | TIMER2_Init(); |
115 | TIMER2_Init(); |
121 | USART0_Init(); |
116 | USART0_Init(); |
122 | if (BoardRelease == 11) USART1_Init(); |
117 | if (BoardRelease == 11) USART1_Init(); |
123 | rc_sum_init(); |
118 | RC_Init(); |
124 | ADC_Init(); |
119 | ADC_Init(); |
125 | i2c_init(); |
120 | i2c_init(); |
Line 183... | Line 178... | ||
183 | LCD_Clear(); |
178 | LCD_Clear(); |
Line 184... | Line 179... | ||
184 | 179 | ||
185 | I2CTimeout = 5000; |
180 | I2CTimeout = 5000; |
186 | while (1) |
181 | while (1) |
187 | { |
182 | { |
188 | if(UpdateMotor) // ReglerIntervall |
183 | if(UpdateMotor) // control interval |
189 | { |
184 | { |
190 | //SPI_TransmitByte(); //# |
185 | //SPI_TransmitByte(); //# |
191 | UpdateMotor=0; |
186 | UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
192 | //PORTD |= 0x08; |
187 | //PORTD |= 0x08; |
Line 193... | Line 188... | ||
193 | MotorRegler(); |
188 | MotorControl(); |
194 | 189 | ||
195 | //PORTD &= ~0x08; |
190 | //PORTD &= ~0x08; |
196 | SendMotorData(); |
191 | SendMotorData(); |
197 | ROT_OFF; |
192 | ROT_OFF; |
198 | if(PcAccess) PcAccess--; |
193 | if(PcAccess) PcAccess--; |
199 | else |
194 | else |
200 | { |
195 | { |
201 | DubWiseKeys[0] = 0; |
196 | DubWiseKeys[0] = 0; |
202 | DubWiseKeys[1] = 0; |
197 | DubWiseKeys[1] = 0; |