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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt und genannt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "main.h"
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54
unsigned char EEPromArray[E2END+1] EEMEM;
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unsigned char PlatinenVersion = 10;
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unsigned char SendVersionToNavi = 1;
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// -- Parametersatz aus EEPROM lesen ---
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// number [1..5]
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void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
60
{
61
   if((number > 5)||(number < 1)) number = 3;
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   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
63
   LED_Init();
64
}
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// -- Parametersatz ins EEPROM schreiben ---
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// number [1..5]
68
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
69
{
70
   if(number > 5) number = 5;
71
   if(number < 1) return;
72
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
73
   eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
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   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken
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   SetActiveParamSetNumber(number);
76
   LED_Init();
77
}
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unsigned char GetActiveParamSetNumber(void)
80
{
81
        unsigned char set;
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        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
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        if((set > 5) || (set < 1))
84
        {
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                set = 3;
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                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
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        }
88
        return(set);
89
}
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91
 
92
void SetActiveParamSetNumber(unsigned char number)
93
{
94
        if(number > 5) number = 5;
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        if(number < 1) return;
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        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken
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}
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99
 
100
void CalMk3Mag(void)
101
{
102
 static unsigned char stick = 1;
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104
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
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 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
106
  {
107
   stick = 1;
108
   WinkelOut.CalcState++;
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   if(WinkelOut.CalcState > 4)
110
    {
111
//     WinkelOut.CalcState = 0; // in Uart.c
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     beeptime = 1000;
113
    }
114
   else Piep(WinkelOut.CalcState);
115
  }
116
  DebugOut.Analog[19] = WinkelOut.CalcState;
117
}
118
 
119
//############################################################################
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//Hauptprogramm
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int main (void)
122
//############################################################################
123
{
124
        unsigned int timer;
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    DDRB  = 0x00;
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    PORTB = 0x00;
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    for(timer = 0; timer < 1000; timer++); // verzögern
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    if(PINB & 0x01)
129
     {
130
      if(PINB & 0x02) PlatinenVersion = 13;
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       else           PlatinenVersion = 11;
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     }
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    else
134
     {
135
      if(PINB & 0x02) PlatinenVersion = 20;
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       else           PlatinenVersion = 10;
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     }
138
 
139
    DDRC  = 0x81; // SCL
140
    DDRC  |=0x40; // HEF4017 Reset
141
    PORTC = 0xff; // Pullup SDA
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    DDRB  = 0x1B; // LEDs und Druckoffset
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    PORTB = 0x01; // LED_Rot
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    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
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    DDRD  |=0x80; // J7 -> Servo signal
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        PORTD = 0x47; // LED
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    HEF4017R_ON;
148
    MCUSR &=~(1<<WDRF);
149
    WDTCSR |= (1<<WDCE)|(1<<WDE);
150
    WDTCSR = 0;
151
 
152
    beeptime = 2000;
153
 
154
        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
155
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
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    ROT_OFF;
157
 
158
    Timer_Init();
159
        TIMER2_Init();
160
        UART_Init();
161
    rc_sum_init();
162
        ADC_Init();
163
        i2c_init();
164
        SPI_MasterInit();
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166
        sei();
167
 
168
        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
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    if(UCSR1A == 0x20 && UCSR1C == 0x06)  // initial Values for 644P
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     {
171
      Uart1Init();
172
     }
173
        printf("\n\r==============================");
174
        GRN_ON;
175
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
176
 
177
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
178
        {
179
          DefaultKonstanten1();
180
          printf("\n\rInit. EEPROM");
181
          for (unsigned char i=1;i<6;i++)
182
      {
183
       if(i==2) DefaultKonstanten2(); // Kamera
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       if(i==3) DefaultKonstanten3(); // Beginner
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       if(i>3)  DefaultKonstanten2(); // Kamera
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           if(PlatinenVersion >= 20)
187
            {
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                 EE_Parameter.Gyro_D = 5;
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                 EE_Parameter.Driftkomp = 0;
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                 EE_Parameter.GyroAccFaktor = 27;
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         EE_Parameter.WinkelUmschlagNick = 78;
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         EE_Parameter.WinkelUmschlagRoll = 78;
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                }
194
    // valid Stick-Settings?
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           if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12)
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            {
197
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
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         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
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         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
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         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
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         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
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         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
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         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
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         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
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         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
206
                } else DefaultStickMapping();
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       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
208
      }
209
          SetActiveParamSetNumber(3); // default-Setting
210
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
211
        }
212
 
213
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
214
     {
215
       printf("\n\rACC nicht abgeglichen!");
216
     }
217
 
218
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
219
    printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
220
 
221
 
222
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
223
         {
224
           printf("\n\rAbgleich Luftdrucksensor..");
225
           timer = SetDelay(1000);
226
       SucheLuftruckOffset();
227
           while (!CheckDelay(timer));
228
       printf("OK\n\r");
229
        }
230
 
231
        SetNeutral();
232
 
233
        ROT_OFF;
234
 
235
    beeptime = 2000;
236
    ExternControl.Digital[0] = 0x55;
237
 
238
 
239
        printf("\n\rSteuerung: ");
240
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
241
        else printf("Neutral");
242
 
243
        printf("\n\n\r");
244
 
245
    LcdClear();
246
    I2CTimeout = 5000;
247
    WinkelOut.Orientation = 1;
248
        while (1)
249
        {
250
            if(UpdateMotor && AdReady)      // ReglerIntervall
251
            {
252
                    UpdateMotor=0;
253
//J3High;
254
            if(WinkelOut.CalcState) CalMk3Mag();
255
            else MotorRegler();
256
//J3Low;
257
            SendMotorData();
258
            ROT_OFF;
259
            if(PcZugriff) PcZugriff--;
260
             else
261
              {
262
                           ExternControl.Config = 0;
263
               ExternStickNick = 0;
264
               ExternStickRoll = 0;
265
               ExternStickGier = 0;
266
              }
267
            if(SenderOkay)  SenderOkay--;
268
            if(!I2CTimeout)
269
                {
270
                 I2CTimeout = 5;
271
                 i2c_reset();
272
                  if((BeepMuster == 0xffff) && MotorenEin)
273
                   {
274
                    beeptime = 10000;
275
                    BeepMuster = 0x0080;
276
                   }
277
                }
278
            else
279
                {
280
                 I2CTimeout--;
281
                 ROT_OFF;
282
                }
283
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
284
              {
285
               DatenUebertragung();
286
               BearbeiteRxDaten();
287
              }
288
              else BearbeiteRxDaten();
289
         if(CheckDelay(timer))
290
            {
291
            if(UBat < EE_Parameter.UnterspannungsWarnung)
292
                {
293
                  if(BeepMuster == 0xffff)
294
                   {
295
                    beeptime = 6000;
296
                    BeepMuster = 0x0300;
297
                   }
298
                }
299
             SPI_StartTransmitPacket();
300
 
301
             SendSPI = 4;
302
                         timer = SetDelay(20);
303
            }
304
           LED_Update();
305
          }
306
     if(!SendSPI) { SPI_TransmitByte(); }
307
    }
308
 return (1);
309
}
310