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| Rev 1423 | Rev 1424 | ||
|---|---|---|---|
| Line 152... | Line 152... | ||
| 152 | //############################################################################ |
152 | //############################################################################ |
| 153 | //Hauptprogramm |
153 | //Hauptprogramm |
| 154 | int main (void) |
154 | int main (void) |
| 155 | //############################################################################ |
155 | //############################################################################ |
| 156 | { |
156 | { |
| 157 | unsigned int timer,i,timer2 = 0, timerJeti; |
157 | unsigned int timer,i,timer2 = 0, timerPolling; |
| 158 | DDRB = 0x00; |
158 | DDRB = 0x00; |
| 159 | PORTB = 0x00; |
159 | PORTB = 0x00; |
| 160 | for(timer = 0; timer < 1000; timer++); // verzögern |
160 | for(timer = 0; timer < 1000; timer++); // verzögern |
| 161 | if(PINB & 0x01) |
161 | if(PINB & 0x01) |
| 162 | { |
162 | { |
| Line 192... | Line 192... | ||
| 192 | rc_sum_init(); |
192 | rc_sum_init(); |
| 193 | ADC_Init(); |
193 | ADC_Init(); |
| 194 | i2c_init(); |
194 | i2c_init(); |
| 195 | SPI_MasterInit(); |
195 | SPI_MasterInit(); |
| Line 196... | Line -... | ||
| 196 | - | ||
| 197 | if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P |
- | |
| 198 | { |
196 | |
| 199 | //Uart1Init(); |
- | |
| 200 | JetiBoxUartInit(); |
- | |
| 201 | } |
197 | InitFC(); |
| 202 | 198 | ||
| 203 | sei(); |
199 | sei(); |
| 204 | printf("\n\r==================================="); |
200 | printf("\n\r==================================="); |
| 205 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
201 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
| 206 | printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware"); |
202 | printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware"); |
| Line 362... | Line 358... | ||
| 362 | WinkelOut.Orientation = 1; |
358 | WinkelOut.Orientation = 1; |
| 363 | LipoDetection(1); |
359 | LipoDetection(1); |
| 364 | printf("\n\r===================================\n\r"); |
360 | printf("\n\r===================================\n\r"); |
| 365 | //SpektrumBinding(); |
361 | //SpektrumBinding(); |
| 366 | timer = SetDelay(2000); |
362 | timer = SetDelay(2000); |
| 367 | timerJeti = SetDelay(250); |
363 | timerPolling = SetDelay(250); |
| 368 | while (1) |
364 | while (1) |
| 369 | { |
365 | { |
| Line 370... | Line 366... | ||
| 370 | 366 | ||
| 371 | if(CheckDelay(timerJeti)) |
367 | if(CheckDelay(timerPolling)) |
| 372 | { |
368 | { |
| 373 | timerJeti = SetDelay(100); |
369 | timerPolling = SetDelay(100); |
| 374 | JetiBoxPolling(); |
370 | Polling(); |
| Line 375... | Line 371... | ||
| 375 | } |
371 | } |
| 376 | 372 | ||
| 377 | if(UpdateMotor && AdReady) // ReglerIntervall |
373 | if(UpdateMotor && AdReady) // ReglerIntervall |