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| Rev 1120 | Rev 1153 | ||
|---|---|---|---|
| Line 118... | Line 118... | ||
| 118 | //Hauptprogramm |
118 | //Hauptprogramm |
| 119 | int main (void) |
119 | int main (void) |
| 120 | //############################################################################ |
120 | //############################################################################ |
| 121 | { |
121 | { |
| 122 | unsigned int timer; |
122 | unsigned int timer; |
| 123 | - | ||
| 124 | //unsigned int timer2 = 0; |
- | |
| 125 | DDRB = 0x00; |
123 | DDRB = 0x00; |
| 126 | PORTB = 0x00; |
124 | PORTB = 0x00; |
| 127 | for(timer = 0; timer < 1000; timer++); // verzögern |
125 | for(timer = 0; timer < 1000; timer++); // verzögern |
| 128 | if(PINB & 0x01) |
126 | if(PINB & 0x01) |
| 129 | { |
127 | { |
| Line 141... | Line 139... | ||
| 141 | PORTC = 0xff; // Pullup SDA |
139 | PORTC = 0xff; // Pullup SDA |
| 142 | DDRB = 0x1B; // LEDs und Druckoffset |
140 | DDRB = 0x1B; // LEDs und Druckoffset |
| 143 | PORTB = 0x01; // LED_Rot |
141 | PORTB = 0x01; // LED_Rot |
| 144 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
142 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| 145 | DDRD |=0x80; // J7 -> Servo signal |
143 | DDRD |=0x80; // J7 -> Servo signal |
| 146 | PORTD = 0x77; // LED |
144 | PORTD = 0x47; // LED |
| 147 | - | ||
| Line 148... | Line 145... | ||
| 148 | 145 | ||
| 149 | MCUSR &=~(1<<WDRF); |
146 | MCUSR &=~(1<<WDRF); |
| 150 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
147 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
| Line 242... | Line 239... | ||
| 242 | while (1) |
239 | while (1) |
| 243 | { |
240 | { |
| Line 244... | Line 241... | ||
| 244 | 241 | ||
| 245 | if(UpdateMotor) // ReglerIntervall |
242 | if(UpdateMotor) // ReglerIntervall |
| 246 | { |
- | |
| 247 | UpdateMotor=0; |
243 | { |
| - | 244 | //PORTD |= 0x08; |
|
| 248 | //PORTD |= 0x08; |
245 | UpdateMotor=0; |
| 249 | if(WinkelOut.CalcState) CalMk3Mag(); |
246 | if(WinkelOut.CalcState) CalMk3Mag(); |
| 250 | else MotorRegler(); |
- | |
| 251 | //PORTD &= ~0x08; |
247 | else MotorRegler(); |
| 252 | SendMotorData(); |
248 | SendMotorData(); |
| 253 | ROT_OFF; |
249 | ROT_OFF; |
| 254 | if(PcZugriff) PcZugriff--; |
250 | if(PcZugriff) PcZugriff--; |
| 255 | else |
251 | else |
| Line 289... | Line 285... | ||
| 289 | { |
285 | { |
| 290 | beeptime = 6000; |
286 | beeptime = 6000; |
| 291 | BeepMuster = 0x0300; |
287 | BeepMuster = 0x0300; |
| 292 | } |
288 | } |
| 293 | } |
289 | } |
| 294 | /* if(SendVersionToNavi) |
- | |
| 295 | { |
- | |
| 296 | SPI_StartTransmitPacket(SPI_CMD_VERSION);//# |
- | |
| 297 | SendVersionToNavi = 0; |
- | |
| 298 | } |
- | |
| 299 | else SPI_StartTransmitPacket(SPI_CMD_VALUE);//# |
- | |
| 300 | */ |
- | |
| 301 | SPI_StartTransmitPacket();//# |
290 | SPI_StartTransmitPacket(); |
| Line 302... | Line 291... | ||
| 302 | 291 | ||
| 303 | SendSPI = 4; |
292 | SendSPI = 4; |
| 304 | timer = SetDelay(20); |
293 | timer = SetDelay(20); |
| 305 | } |
- | |
| 306 | //if(UpdateMotor) DebugOut.Analog[26]++; |
294 | } |
| - | 295 | LED_Update(); |
|
| 307 | LED_Update(); |
296 | //PORTD &= ~0x08; |
| 308 | } |
297 | } |
| 309 | if(!SendSPI) { SPI_TransmitByte(); } |
298 | if(!SendSPI) { SPI_TransmitByte(); } |
| 310 | } |
299 | } |
| 311 | return (1); |
300 | return (1); |