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Rev 138 | Rev 141 | ||
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Line 212... | Line 212... | ||
212 | // initialize UART0 (to MKGPS or MK3MAG) |
212 | // initialize UART0 (to MKGPS or MK3MAG) |
213 | UART0_Init(); |
213 | UART0_Init(); |
214 | // initialize adc |
214 | // initialize adc |
215 | Analog_Init(); |
215 | Analog_Init(); |
216 | // initialize usb |
216 | // initialize usb |
217 | USB_ConfigInit(); |
217 | //USB_ConfigInit(); |
218 | // initialize SPI0 to FC |
218 | // initialize SPI0 to FC |
219 | SPI0_Init(); |
219 | SPI0_Init(); |
220 | // initialize i2c bus to MK3MAG (needs Timer 1) |
220 | // initialize i2c bus to MK3MAG (needs Timer 1) |
221 | I2C1_Init(); |
221 | I2C1_Init(); |
222 | // initialize the gps position controller (needs Timer 1) |
222 | // initialize the gps position controller (needs Timer 1) |
Line 292... | Line 292... | ||
292 | { |
292 | { |
293 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
293 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
294 | } |
294 | } |
295 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
295 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
296 | } |
296 | } |
297 | - | ||
- | 297 | // update ADC readings |
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- | 298 | ADC_ConversionCmd(ADC_Conversion_Start); |
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298 | } |
299 | } |
299 | } |
300 | } |
Line 300... | Line 301... | ||
300 | 301 | ||
301 | // ---------------- Error Check Timing ---------------------------- |
302 | // ---------------- Error Check Timing ---------------------------- |