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#include "fc.h"
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#include "fc.h"
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#include "rc.h"
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#include "rc.h"
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#include "analog.h"
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#include "analog.h"
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#include "printf_P.h"
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#include "printf_P.h"
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//#include "spi.h"
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//#include "spi.h"
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#ifdef USE_MM3
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#include "mm3.h"
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#include "mm3.h"
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#endif
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#ifdef USE_CMPS03
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#include "cmps03.h"
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#endif
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#include "twimaster.h"
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#include "twimaster.h"
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#include "eeprom.h"
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#include "eeprom.h"
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#include "_Settings.h"
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#include "_Settings.h"
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        // get board release
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        // get board release
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    DDRB  = 0x00;
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    DDRB  = 0x00;
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    PORTB = 0x00;
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    PORTB = 0x00;
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    for(timer = 0; timer < 1000; timer++); // make some delay
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    for(timer = 0; timer < 1000; timer++); // make some delay
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    if(PINB & 0x01) BoardRelease = 11;
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    if(PINB & (1<<PINB1)) BoardRelease = 11;
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    else BoardRelease = 10;
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    else BoardRelease = 10;
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        // set LED ports as output
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        // set LED ports as output
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        // initalize modules
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        // initalize modules
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    TIMER0_Init();
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    TIMER0_Init();
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    TIMER2_Init();
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    TIMER2_Init();
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        USART0_Init();
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        USART0_Init();
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        #if defined (__AVR_ATmega644p__)
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#if defined (__AVR_ATmega644p__)
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        if (BoardRelease != 10) USART1_Init();
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        if (BoardRelease == 11) USART1_Init();
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#endif
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        #endif
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    RC_Init();
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    RC_Init();
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        ADC_Init();
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        ADC_Init();
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        I2C_Init();
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        I2C_Init();
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#ifdef USE_MM3
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        MM3_Init();
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#endif
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#ifdef USE_CMPS03
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        CMPS03_Init();
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        MM3_Init();
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#endif
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        //SPI_MasterInit();
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        //SPI_MasterInit();
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        //wait for a short time (otherwise the RC channel check won't work below)
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        //wait for a short time (otherwise the RC channel check won't work below)
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        timer = SetDelay(500);
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        timer = SetDelay(500);
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        while(!CheckDelay(timer));
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        while(!CheckDelay(timer));
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#ifdef USE_MM3
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        printf("\n\rSupport for Compass Module MM3");
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        //Compass calibration?
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        //Compass calibration?
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        if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100)
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        if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100)
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        {
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        {
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                printf("\n\rCalibrating Compass");
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                printf("\n\rCalibrating Compass");
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                MM3_Calibrate();
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        }
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#endif
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#ifdef USE_CMPS03
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                MM3_Calibrate();
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        printf("\n\rSupport for Compass Module CMPS03");
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        }
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#endif
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