Rev 2018 | Rev 2049 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 2018 | Rev 2039 | ||
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Line 70... | Line 70... | ||
70 | #include "twimaster.h" |
70 | #include "twimaster.h" |
71 | #include "controlMixer.h" |
71 | #include "controlMixer.h" |
72 | #ifdef USE_NAVICTRL |
72 | #ifdef USE_NAVICTRL |
73 | #include "spi.h" |
73 | #include "spi.h" |
74 | #endif |
74 | #endif |
75 | #ifdef USE_MK3MAG |
75 | #ifdef USE_DIRECT_GPS |
76 | #include "mk3mag.h" |
76 | #include "mk3mag.h" |
77 | #endif |
77 | #endif |
78 | #include "eeprom.h" |
78 | #include "eeprom.h" |
Line 79... | Line 79... | ||
79 | 79 | ||
Line 106... | Line 106... | ||
106 | analog_init(); |
106 | analog_init(); |
107 | I2C_init(); |
107 | I2C_init(); |
108 | #ifdef USE_NAVICTRL |
108 | #ifdef USE_NAVICTRL |
109 | SPI_MasterInit(); |
109 | SPI_MasterInit(); |
110 | #endif |
110 | #endif |
111 | #ifdef USE_MK3MAG |
111 | #ifdef USE_DIRECT_GPS |
112 | MK3MAG_Init(); |
112 | MK3MAG_init(); |
- | 113 | usart1_init(); |
|
113 | #endif |
114 | #endif |
Line 114... | Line 115... | ||
114 | 115 | ||
115 | // Parameter Set handling |
116 | // Parameter Set handling |
116 | channelMap_readOrDefault(); |
117 | channelMap_readOrDefault(); |
Line 160... | Line 161... | ||
160 | 161 | ||
Line 161... | Line 162... | ||
161 | printf("\n\r==================================="); |
162 | printf("\n\r==================================="); |
162 | 163 | ||
163 | #ifdef USE_NAVICTRL |
- | |
164 | printf("\n\rSupport for NaviCtrl"); |
- | |
165 | #ifdef USE_RC_DSL |
- | |
166 | printf("\r\nSupport for DSL RC at 2nd UART"); |
- | |
167 | #endif |
- | |
168 | #ifdef USE_RC_SPECTRUM |
- | |
169 | printf("\r\nSupport for SPECTRUM RC at 2nd UART"); |
- | |
170 | #endif |
- | |
171 | #endif |
- | |
172 | - | ||
173 | #ifdef USE_MK3MAG |
164 | #ifdef USE_NAVICTRL |
Line 174... | Line 165... | ||
174 | printf("\n\rSupport for MK3MAG Compass"); |
165 | printf("\n\rSupport for NaviCtrl"); |
175 | #endif |
166 | #endif |
176 | - | ||
177 | #if (defined (USE_MK3MAG)) |
167 | |
Line 178... | Line 168... | ||
178 | if(CPUType == ATMEGA644P) printf("\n\r2 UART"); |
168 | #ifdef USE_DIRECT_GPS |
Line 179... | Line 169... | ||
179 | else printf("\n\r1 UART"); |
169 | printf("\n\rDirect (no NaviCtrl) navigation"); |
Line 208... | Line 198... | ||
208 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
198 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
209 | } else { |
199 | } else { |
210 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
200 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
Line 211... | Line 201... | ||
211 | 201 | ||
- | 202 | J4HIGH; |
|
- | 203 | calculateFlightAttitude(); |
|
212 | J4HIGH; |
204 | controlMixer_periodicTask(); |
213 | flight_control(); |
205 | flight_control(); |
Line 214... | Line 206... | ||
214 | J4LOW; |
206 | J4LOW; |
215 | 207 |