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Rev 2119 Rev 2130
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#include "eeprom.h"
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#include "eeprom.h"
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#include "printf_P.h"
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#include "printf_P.h"
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int16_t main(void) {
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int16_t main(void) {
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  uint16_t timer;
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  uint16_t timer;
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  static uint8_t profileTimer;
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  // disable interrupts global
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  // disable interrupts global
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  WDTCSR |= (1 << WDCE) | (1 << WDE);
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  WDTCSR |= (1 << WDCE) | (1 << WDE);
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  WDTCSR = 0;
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  WDTCSR = 0;
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// This is strange: It should NOT be necessarty to do. But the call of the same,
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// This is strange: It should NOT be necessarty to do. But the call of the same,
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// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....
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// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....
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  channelMap_default();
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// channelMap_default();
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  // initalize modules
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  // initalize modules
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  output_init();
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  output_init();
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  analog_init();
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  analog_init();
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  // Parameter Set handling
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  // Parameter Set handling
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  IMUConfig_readOrDefault();
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  IMUConfig_readOrDefault();
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  channelMap_readOrDefault();
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  channelMap_readOrDefault();
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  rcTrim_readOrDefault();
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  paramSet_readOrDefault();
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  paramSet_readOrDefault();
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  // enable interrupts global
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  sei();
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  printf("\n\r===================================");
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  printf("\n\rFlightControl");
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  printf("\n\rHardware: Custom");
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  printf("\n\r     CPU: Atmega328");
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  printf("\n\rSoftware: V%d.%d%c",
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      VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
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  printf("\n\r===================================");
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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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  // while(!CheckDelay(timer));
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 - 
 
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  // Instead, while away the time by flashing the 2 outputs:
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  // First J16, then J17. Makes it easier to see which is which.
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  timer = setDelay(200);
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  outputSet(0, 1);
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  GRN_OFF;
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  RED_ON;
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  while (!checkDelay(timer))
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    ;
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  timer = setDelay(200);
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  outputSet(0, 0);
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  outputSet(1, 1);
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  RED_OFF;
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  GRN_ON;
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  while (!checkDelay(timer))
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    ;
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  timer = setDelay(200);
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  while (!checkDelay(timer))
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    ;
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  outputSet(1, 0);
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  GRN_OFF;
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  printf("\n\r===================================");
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#ifdef USE_NAVICTRL
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  printf("\n\rSupport for NaviCtrl");
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#endif
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#ifdef USE_DIRECT_GPS
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  printf("\n\rDirect (no NaviCtrl) navigation");
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  // enable interrupts global
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#endif
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  sei();
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  controlMixer_setNeutral();
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  controlMixer_setNeutral();
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  // Cal. attitude sensors and reset integrals.
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  attitude_setNeutral();
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  // Init flight parameters
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  // flight_setNeutral();
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  // Cal. attitude sensors and reset integrals.
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  attitude_setNeutral();
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  beep(2000);
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  // This is not a busy-wait operation and should be OK.
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  printf("\n\n\r");
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  beep(2000);
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        usart0_transmitTxData();
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        usart0_transmitTxData();
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      }
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      }
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      usart0_processRxData();
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      if (checkDelay(timer)) {
 86 
      usart0_processRxData();
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        // Do nothing. The voltage on the input side of the regulator is <5V;
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        // we must be running off USB power. Keep it quiet.
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      } else if (UBat < staticParams.batteryWarningVoltage && UBat > UBAT_AT_5V) {
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        beepBatteryAlarm();
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        static uint8_t aboveWarningLimitVoltageSeen = 0;
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- 
 
 90 
        if (checkDelay(timer)) {
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          if (UBat >= staticParams.batteryWarningVoltage) {
140 
      }
 92 
            aboveWarningLimitVoltageSeen = 1;
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 93 
          } else { // If we are above USB voltage, or if we have once been above warning voltage
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            if (aboveWarningLimitVoltageSeen || UBat > UBAT_AT_5V) {
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 95 
              beepBatteryAlarm();
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            }
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 97 
          }
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      timer = setDelay(20); // every 20 ms
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          calculateFeaturedServoValues();
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      output_update();
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          timer = setDelay(20); // every 20 ms
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    }
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        }
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    calculateFeaturedServoValues();
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    output_update();