| 0,0 → 1,491 |
|---|
| /************************************************************************************************************************************** |
| * File: main.c |
| * |
| * Purpose: main function fot Flight Ctrl |
| * |
| * Functions: void CalMk3Mag(void) |
| * void LipoDetection(unsigned char print) |
| * int main(void) |
| * |
| * hardware: Flight Ctrl V1.3 |
| * |
| * Created: Feb 2013 |
| * |
| * Revisions: 1.00 experimental subversion for a balancekopter |
| * Achtung: nicht flugfähige Experimentalversion für eine Balenwaage mit Flight-CTRL |
| * siehe: http://forum.mikrokopter.de/topic-39231.html |
| * |
| * Copyright: (c)2013 www.mikrokopter.de |
| * All rights reserved. This software is available only for non-commercial or educational applications. |
| * Other uses are prohibited. This software may be modified only if |
| * the resulting code be made available publicly and the original author(s) given credit. |
| * |
| ************************************************************************************************************************************/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ***************************************************************************************************************************************** |
| #include "main.h" |
| |
| |
| unsigned char PlatinenVersion = 13; |
| unsigned char SendVersionToNavi = 1; |
| unsigned char BattLowVoltageWarning = 94; |
| unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| |
| |
| |
| //----------------------------------------------------------------------------------------------------- |
| // calibrate magnetic compass |
| //----------------------------------------------------------------------------------------------------- |
| void CalMk3Mag(void) |
| { |
| static unsigned char stick = 1; |
| |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
| |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
| { |
| stick = 1; |
| WinkelOut.CalcState++; |
| |
| if(WinkelOut.CalcState > 4) |
| { |
| beeptime = 1000; |
| } |
| else Piep(WinkelOut.CalcState,150); |
| } |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| } |
| //----------------------------------------------------------------------------------------------------- |
| |
| |
| |
| //----------------------------------------------------------------------------------------------------- |
| // recognize the LiPo accumulators |
| // char print can be 0 or 1 |
| //----------------------------------------------------------------------------------------------------- |
| void LipoDetection(unsigned char print) |
| { |
| unsigned int timer; |
| |
| if(print) printf("\n\rBatt:"); |
| |
| if(EE_Parameter.UnterspannungsWarnung < 50) // automatic recognition of lipo cells -> default = 33 |
| { |
| timer = SetDelay(500); // |
| if(print) while (!CheckDelay(timer)); |
| |
| if(UBat < 130) |
| { |
| BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung; |
| if(print) |
| { |
| Piep(3,200); |
| printf(" 3 Cells "); |
| } |
| } |
| else |
| { |
| BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung; |
| if(print) |
| { |
| Piep(4,200); |
| printf(" 4 Cells "); |
| } |
| } |
| } |
| else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
| |
| if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| } |
| //----------------------------------------------------------------------------------------------------- |
| |
| |
| |
| // -------------------------------------------------------------------------------------------------------------------------- |
| // main program starting here |
| // |
| // INPUT: None |
| // OUTPUT: None |
| // RETURN: 1 |
| // -------------------------------------------------------------------------------------------------------------------------- |
| int main(void) |
| { |
| unsigned int timer,i,timer2 = 0; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| |
| PlatinenVersion = 13; |
| |
| DDRC = 0x81; // SCL |
| PORTC = 0xFF; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| PORTD = 0x47; // LED |
| HEF4017R_OFF; // #define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
| |
| MCUSR &=~(1<<WDRF); // MCUSR MCU Status Register provides information on which reset source caused an MCU reset |
| WDTCSR |= (1<<WDCE)|(1<<WDE); // WDTCSR Watchdog Timer Control Register |
| WDTCSR = 0; |
| |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
| |
| GIER_GRAD_FAKTOR = 1291; |
| |
| ROT_OFF; // rote LED aus // PORTB |= 0x01; |
| |
| Timer_Init(); // goto timer0.c Zeile 40 |
| TIMER2_Init(); // goto timer0.c Zeile 170 |
| UART_Init(); // goto uart.c Zeile 488 |
| rc_sum_init(); // goto rc.c line 17 |
| ADC_Init(); // goto analog.c Zeile 26 |
| i2c_init(); // goto twimaster.c Zeile 16 |
| |
| |
| //--------------------------------------------------------------------------------------------------------------------------------- |
| // passes one time through the following code before arriving at the forever loop |
| //--------------------------------------------------------------------------------------------------------------------------------- |
| |
| sei(); |
| |
| printf("\n\r==================================="); |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
| printf("\n\rexperimental version"); |
| printf("\n\r==================================="); |
| |
| |
| GRN_ON; // switch green LED on // PORTB &=~0x02; |
| |
| ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read first 9 Bytes = chanal setup of radio control |
| |
| |
| // --------------------------------------------------------------------------------------------------------------------------- |
| // setup of mixer |
| // --------------------------------------------------------------------------------------------------------------------------- |
| |
| // check MIXER-Revision at first EEPROM Byte = 1000 // #define EEPROM_ADR_MIXER_TABLE 1000 |
| |
| // if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) |
| if((eeprom_read_byte(&EEPromArray[1000]) == 1) && (eeprom_read_byte(&EEPromArray[1]) != 0xFF)) // aufgelöst |
| { |
| unsigned char i; // Settings via Koptertool zurücksetzen |
| RequiredMotors = 0; |
| eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;} |
| } |
| else // default |
| { |
| unsigned char i; |
| printf("\n\rerzeugt default Mixer Table"); |
| for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;}; |
| |
| // default = Quadro |
| // number 64 is equivalent to 100% |
| // GasMischanteil pd_ergebnis_nick pd_ergebnis_roll GierMischanteil |
| Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64; // vorne |
| Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64; // hinten |
| Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64; // rechts |
| Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64; // links |
| Mixer.Revision = MIXER_REVISION; // #define MIXER_REVISION 1 |
| memcpy(Mixer.Name, "Quadro\0", 11); |
| eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); // sizeof(Mixer) = 77 |
| } |
| |
| printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
| |
| |
| // --------------------------------------------------------------------------------------------------------------------------- |
| // how many BL-Ctrls are connected ? |
| // --------------------------------------------------------------------------------------------------------------------------- |
| printf("\n\r...BL-Ctrl...."); |
| |
| motorread = 0; |
| UpdateMotor = 0; |
| SendMotorData(); |
| while(!UpdateMotor); |
| motorread = 0; // read the first I2C-Datasets |
| timer = SetDelay(2000); // sets |
| |
| for(i=0; i < MAX_MOTORS; i++) // #define MAX_MOTORS 4 |
| { |
| UpdateMotor = 0; |
| SendMotorData(); // goto fc.c line 460 |
| while(!UpdateMotor); |
| |
| if(Mixer.Motor[i][0] > 0) // wait maximum 2 sec to wake up the BL-Ctrls |
| { |
| while(!CheckDelay(timer) && !MotorPresent[i]) |
| { |
| UpdateMotor = 0; |
| SendMotorData(); |
| while(!UpdateMotor); |
| } |
| } |
| if(MotorPresent[i]) printf("%d ",i+1); |
| } |
| |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) // #define MAX_MOTORS 4 |
| { |
| printf("\n\r\n\r!! missing BL-CTRL: %d !!",i+1); |
| ServoActive = 1; // just in case the FlightCtrl would be used as camera-stabilizer |
| } |
| MotorError[i] = 0; |
| } |
| printf("\n\r==================================="); |
| SendMotorData(); |
| |
| |
| // --------------------------------------------------------------------------------------------------------------------------- |
| // check, that the revision in EEPROM fits to actual software |
| // --------------------------------------------------------------------------------------------------------------------------- |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) // #define EEPROM_ADR_VALID 1 |
| { // #define EE_DATENREVISION 80 |
| |
| DefaultKonstanten1(); // Funktion aus eeprom.c |
| printf("\n\rInit. EEPROM"); |
| |
| for (unsigned char i=1;i<6;i++) // es gibt 5 verschiedene Settings |
| { |
| if(i==2) DefaultKonstanten2(); // Kamera |
| if(i==3) DefaultKonstanten3(); // Anfänger |
| if(i>3) DefaultKonstanten2(); // Kamera |
| |
| // --------------------------------------------------------------------------------------------------------------------------- |
| // valid Setting ? |
| // --------------------------------------------------------------------------------------------------------------------------- |
| 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) |
| { |
| EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); // Nick // #define EEPROM_ADR_CHANNELS 80 |
| EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); // Roll |
| EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); // Gas |
| EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); // Gier |
| EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); // Poti 1 |
| EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); // Poti 2 |
| EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); // Poti 3 |
| EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); // Poti 4 |
| if(i==1) printf(": Generating Default-Parameter using old Stick Settings"); |
| } else DefaultStickMapping(); |
| |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| // WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 101)); |
| } |
| SetActiveParamSetNumber(3); // default Setting ist Beginner |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); // #define EE_DATENREVISION 80 |
| // eeprom_write_byte(&EEPromArray[1], 80); // aufgelöst |
| |
| } // EOF : check existing revision at EEPROM |
| |
| FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]); |
| FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]); |
| |
| if(FlugMinutenGesamt == 0xFFFF || FlugMinuten == 0xFFFF) // Flugminuten sind am überlaufen - zurücksetzen |
| { |
| FlugMinuten = 0; |
| FlugMinutenGesamt = 0; |
| } |
| |
| printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt); |
| |
| |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| printf("\n\rACC noch nicht calibriert !"); |
| } |
| |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); // #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| |
| printf("\n\rUsing parameterset %d", GetActiveParamSetNumber()); |
| |
| |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rKalibrieren des Drucksensors."); |
| timer = SetDelay(1000); // |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); // pause 1 sec |
| printf("OK\n\r"); |
| } |
| |
| SetNeutral(); // Nullwerte ermitteln und Startwerte festlegen - goto fc.c line 162 |
| |
| ROT_OFF; // redLED off // PORTB |= 0x01; |
| |
| beeptime = 2000; |
| ExternControl.Digital[0] = 0x55; // externe Steuerung per serieller Schnittstelle - siehe uart.h |
| |
| printf("\n\rControl: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("normaler (ACC-Mode)"); |
| |
| LcdClear(); |
| I2CTimeout = 5000; // watchdog set up to 10 sec |
| WinkelOut.Orientation = 1; |
| |
| LipoDetection(1); // Lipos should be detected now |
| |
| printf("\n\r===================================\n\r"); |
| |
| timer = SetDelay(2000); |
| // -------------------------------- end of main() prelude --------------------------------------------------------------------- |
| |
| |
| |
| //---------------------------------------------------------------------------------------------------------------------- |
| // forever loop of main program |
| //---------------------------------------------------------------------------------------------------------------------- |
| while(1) |
| { |
| if(UpdateMotor && AdReady) // motor is updated every 2 ms and ADC is already passed |
| { |
| UpdateMotor=0; // reset and wait fpr the next 2ms timed trigger from timer0 IR |
| |
| if(WinkelOut.CalcState) CalMk3Mag(); // In diesem Spezial-Fall soll der Kompass kalibriert werden |
| else MotorRegler(); // Im Normalfall Sollwerte für die Motoren berechnen = goto fc.c line 541 |
| |
| SendMotorData(); // Sollwerte an die Motorren senden -> fc.c Zeile 465 |
| |
| ROT_OFF; // switch red LED off // PORTB |= 0x01; |
| |
| if(SenderOkay) SenderOkay--; // ICIE1: Timer/Counter1, Input Capture Interrupt Enable |
| else TIMSK1 |= _BV(ICIE1); // enable PPM-Input // TIMSK1 Timer/Counter1 Interrupt Mask Register -> ICIE1 OCIE1B OCIE1A TOIE1 |
| |
| if(!--I2CTimeout || MissingMotor) // counting down I2CTimeout or motor is missing |
| { |
| if(!I2CTimeout) |
| { |
| i2c_reset(); |
| I2CTimeout = 5; |
| DebugOut.Analog[28]++; // I2C-Error |
| } |
| |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 10000; |
| BeepMuster = 0x0080; |
| } |
| } |
| else |
| { |
| ROT_OFF; // switch red LED off // PORTB |= 0x01; |
| } |
| |
| if( 1 && (!UpdateMotor || !MotorenEin)) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| |
| // DatenUebertragung(); // where ist that contained? |
| // BearbeiteRxDaten(); // where ist that contained? |
| |
| if(CheckDelay(timer)) // goto timer0.c line 65 |
| { |
| timer += 20; |
| |
| if(PcZugriff) PcZugriff--; // flight-CTRL controlled by external PC |
| else |
| { |
| ExternControl.Config = 0; |
| ExternStickNick = 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| if(BeepMuster == 0xffff && SenderOkay == 0) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| } |
| } |
| |
| if(UBat < BattLowVoltageWarning) // low battery |
| { |
| MikroKopterFlags |= FLAG_LOWBAT; |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| else MikroKopterFlags &= ~FLAG_LOWBAT; |
| |
| //SPI_StartTransmitPacket(); // where ist that contained? |
| SendSPI = 4; |
| if(!MotorenEin) timer2 = 1450; // round it up to 30 sec |
| if(++timer2 == 2930) // one minute |
| { |
| timer2 = 0; |
| FlugMinuten++; |
| FlugMinutenGesamt++; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256); |
| |
| timer = SetDelay(20); // delay 20 ms |
| } |
| } |
| |
| LED_Update(); // junmps erery 2ms to led.c line 32 |
| |
| } // *** EOF : if(UpdateMotor && AdReady) |
| |
| // *** EOF: if(!SendSPI) { SPI_TransmitByte(); } |
| |
| } // End of endlessloop |
| |
| return (1); |
| } |
| // *** EOF: main(void) ************************************************************************************************************ |