Rev 724 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 724 | Rev 726 | ||
|---|---|---|---|
| Line 113... | Line 113... | ||
| 113 | 113 | ||
| 114 | // initalize modules |
114 | // initalize modules |
| 115 | TIMER0_Init(); |
115 | TIMER0_Init(); |
| 116 | TIMER2_Init(); |
116 | TIMER2_Init(); |
| 117 | USART0_Init(); |
- | |
| 118 | ubx_init(); |
117 | USART0_Init(); |
| 119 | if (BoardRelease == 11) USART1_Init(); |
118 | if (BoardRelease == 11) USART1_Init(); |
| 120 | RC_Init(); |
119 | RC_Init(); |
| 121 | ADC_Init(); |
120 | ADC_Init(); |
| 122 | i2c_init(); |
121 | I2C_Init(); |
| 123 | MM3_init(); |
122 | MM3_Init(); |
| Line 124... | Line 123... | ||
| 124 | //SPI_MasterInit(); |
123 | //SPI_MasterInit(); |
| 125 | 124 | ||
| Line 148... | Line 147... | ||
| 148 | 147 | ||
| 149 | //Compass calibration? |
148 | //Compass calibration? |
| 150 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100) |
149 | if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100) |
| 151 | { |
150 | { |
| 152 | printf("\n\rCalibrating Compass"); |
151 | printf("\n\rCalibrating Compass"); |
| 153 | MM3_calibrate(); |
152 | MM3_Calibrate(); |
| Line 154... | Line 153... | ||
| 154 | } |
153 | } |
| 155 | 154 | ||
| Line 204... | Line 203... | ||
| 204 | } |
203 | } |
| 205 | if(SenderOkay) SenderOkay--; |
204 | if(SenderOkay) SenderOkay--; |
| 206 | if(!I2CTimeout) |
205 | if(!I2CTimeout) |
| 207 | { |
206 | { |
| 208 | I2CTimeout = 5; |
207 | I2CTimeout = 5; |
| 209 | i2c_reset(); |
208 | I2C_Reset(); |
| 210 | if((BeepModulation == 0xFFFF) && MotorsOn) |
209 | if((BeepModulation == 0xFFFF) && MotorsOn) |
| 211 | { |
210 | { |
| 212 | BeepTime = 10000; // 1 second |
211 | BeepTime = 10000; // 1 second |
| 213 | BeepModulation = 0x0080; |
212 | BeepModulation = 0x0080; |
| 214 | } |
213 | } |