Rev 754 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 754 | Rev 756 | ||
|---|---|---|---|
| Line 56... | Line 56... | ||
| 56 | 56 | ||
| 57 | #include "main.h" |
57 | #include "main.h" |
| 58 | #include "timer0.h" |
58 | #include "timer0.h" |
| 59 | #include "timer2.h" |
59 | #include "timer2.h" |
| - | 60 | #include "uart.h" |
|
| 60 | #include "uart.h" |
61 | #if defined (__AVR_ATmega644P__) |
| - | 62 | #include "uart1.h" |
|
| 61 | #include "uart1.h" |
63 | #endif |
| 62 | #include "menu.h" |
64 | #include "menu.h" |
| 63 | #include "ubx.h" |
65 | #include "ubx.h" |
| 64 | #include "fc.h" |
66 | #include "fc.h" |
| 65 | #include "rc.h" |
67 | #include "rc.h" |
| Line 93... | Line 95... | ||
| 93 | 95 | ||
| 94 | // get board release |
96 | // get board release |
| 95 | DDRB = 0x00; |
97 | DDRB = 0x00; |
| 96 | PORTB = 0x00; |
98 | PORTB = 0x00; |
| 97 | for(timer = 0; timer < 1000; timer++); // make some delay |
99 | for(timer = 0; timer < 1000; timer++); // make some delay |
| 98 | if(PINB & (1<<PINB1)) BoardRelease = 11; |
100 | if(PINB & (1<<PINB0)) BoardRelease = 11; |
| Line 99... | Line 101... | ||
| 99 | else BoardRelease = 10; |
101 | else BoardRelease = 10; |
| 100 | 102 | ||
| 101 | // set LED ports as output |
103 | // set LED ports as output |
| Line 125... | Line 127... | ||
| 125 | // initalize modules |
127 | // initalize modules |
| 126 | TIMER0_Init(); |
128 | TIMER0_Init(); |
| 127 | TIMER2_Init(); |
129 | TIMER2_Init(); |
| 128 | USART0_Init(); |
130 | USART0_Init(); |
| Line 129... | Line 131... | ||
| 129 | 131 | ||
| 130 | #if defined (__AVR_ATmega644p__) |
132 | #if defined (__AVR_ATmega644P__) |
| 131 | if (BoardRelease == 11) USART1_Init(); |
133 | if (BoardRelease == 11) USART1_Init(); |
| Line 132... | Line 134... | ||
| 132 | #endif |
134 | #endif |
| 133 | 135 | ||
| Line 211... | Line 213... | ||
| 211 | { |
213 | { |
| 212 | if(UpdateMotor) // control interval |
214 | if(UpdateMotor) // control interval |
| 213 | { |
215 | { |
| 214 | //SPI_TransmitByte(); //# |
216 | //SPI_TransmitByte(); //# |
| 215 | UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
217 | UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
| 216 | //PORTD |= 0x08; |
218 | PORTD |= (1<<PORTD4); |
| 217 | MotorControl(); |
219 | MotorControl(); |
| 218 | - | ||
| 219 | //PORTD &= ~0x08; |
220 | PORTD &= ~(1<<PORTD4); |
| 220 | SendMotorData(); |
221 | SendMotorData(); |
| 221 | ROT_OFF; |
222 | ROT_OFF; |
| 222 | if(PcAccess) PcAccess--; |
223 | if(PcAccess) PcAccess--; |
| 223 | else |
224 | else |
| 224 | { |
225 | { |