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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 04.2007 Holger Buss
// + Nur für den privaten Gebrauch
// + 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 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 to systems other than 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 EEPromArray[E2END + 1] EEMEM;
unsigned char PlatinenVersion = 10;
unsigned char SendVersionToNavi = 1;
// -- Parametersatz aus EEPROM lesen ---
// number [1..5]

void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) {
    if ((number > 5) || (number < 1)) number = 3;
    eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
    LED_Init();
}

// -- Parametersatz ins EEPROM schreiben ---
// number [1..5]

void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) {
    if (number > 5) number = 5;
    if (number < 1) return;
    eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
    SetActiveParamSetNumber(number);
    LED_Init();
}

unsigned char GetActiveParamSetNumber(void) {
    unsigned char set;
    set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
    if ((set > 5) || (set < 1)) {
        set = 3;
        SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken
    }
    return (set);
}

void SetActiveParamSetNumber(unsigned char number) {
    if (number > 5) number = 5;
    if (number < 1) return;
    eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken
}

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) {
            //     WinkelOut.CalcState = 0; // in Uart.c
            beeptime = 1000;
        } else Piep(WinkelOut.CalcState);
    }
    DebugOut.Analog[19] = WinkelOut.CalcState;
}

//############################################################################
//Hauptprogramm

int main(void)
//############################################################################
{
    unsigned int timer;

    //unsigned int timer2 = 0;
    DDRB = 0x00;
    PORTB = 0x00;
    for (timer = 0; timer < 1000; timer++); // verzögern
    if (PINB & 0x01) {
        if (PINB & 0x02) PlatinenVersion = 13;
        else PlatinenVersion = 11;
    } else {
        if (PINB & 0x02) PlatinenVersion = 20;
        else PlatinenVersion = 10;
    }

    DDRC = 0x81; // SCL
    DDRC |= 0x40; // HEF4017 Reset
    PORTC = 0xff; // Pullup SDA
    DDRB = 0x1B; // LEDs und Druckoffset
    PORTB = 0x01; // LED_Rot
    DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
    DDRD |= 0x80; // J7 -> Servo signal
    PORTD = 0x77; // LED


    MCUSR &= ~(1 << WDRF);
    WDTCSR |= (1 << WDCE) | (1 << WDE);
    WDTCSR = 0;

    beeptime = 2000;

    StickGier = 0;
    PPM_in[K_GAS] = 0;
    StickRoll = 0;
    StickNick = 0;

    ROT_OFF;

    Timer_Init();
    UART_Init();
    rc_sum_init();
    ADC_Init();
    i2c_init();
    SPI_MasterInit();

    sei();

    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\r==============================");

    GRN_ON;


    ReadParameterSet(3, (unsigned char *) & EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
    // valid Stick-Settings?
    if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) == 255 || eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) < EE_DATENREVISION ||
            EE_Parameter.Kanalbelegung[0] > 9 || EE_Parameter.Kanalbelegung[1] > 9 || EE_Parameter.Kanalbelegung[2] > 9 || EE_Parameter.Kanalbelegung[3] > 9) {
        printf("\n\rInit. EEPROM: Generating Default-Parameter and Stick-Settings...");
        DefaultStickMapping();
    } else if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) printf("\n\rInit. EEPROM: Generating Default-Parameter using old Stick Settings");

    if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) {
        DefaultKonstanten1();
        for (unsigned char i = 1; i < 6; i++) {
            if (i == 2) DefaultKonstanten2(); // Kamera
            if (i == 3) DefaultKonstanten3(); // Beginner
            if (i > 3) DefaultKonstanten2(); // Kamera
            WriteParameterSet(i, (unsigned char *) & EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
        }
        SetActiveParamSetNumber(3); // default-Setting
        eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
    }

    if (eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) {
        printf("\n\rACC nicht abgeglichen!");
    }

    ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) & EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
    printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());


    if (EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) {
        printf("\n\rAbgleich Luftdrucksensor..");
        timer = SetDelay(1000);
        SucheLuftruckOffset();
        while (!CheckDelay(timer));
        printf("OK\n\r");
    }

    SetNeutral();

    ROT_OFF;

    beeptime = 2000;
    ExternControl.Digital[0] = 0x55;


    printf("\n\rSteuerung: ");
    if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
    else printf("Neutral");

    printf("\n\n\r");

    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    while (1) {

        if (UpdateMotor) // ReglerIntervall
        {
            UpdateMotor = 0;
            //PORTD |= 0x08;
            if (WinkelOut.CalcState) CalMk3Mag();
            else MotorRegler();
            //PORTD &= ~0x08;
            SendMotorData();
            ROT_OFF;
            if (PcZugriff) PcZugriff--;
            else {
                ExternControl.Config = 0;
                ExternStickNick = 0;
                ExternStickRoll = 0;
                ExternStickGier = 0;
            }
            if (SenderOkay) SenderOkay--;
            if (!I2CTimeout) {
                I2CTimeout = 5;
                i2c_reset();
                if ((BeepMuster == 0xffff) && MotorenEin) {
                    beeptime = 10000;
                    BeepMuster = 0x0080;
                }
            } else {
                I2CTimeout--;
                ROT_OFF;
            }
            if (SIO_DEBUG && (!UpdateMotor || !MotorenEin)) {
                DatenUebertragung();
                BearbeiteRxDaten();
            } else BearbeiteRxDaten();
            if (CheckDelay(timer)) {
                if (UBat < EE_Parameter.UnterspannungsWarnung) {
                    if (BeepMuster == 0xffff) {
                        beeptime = 6000;
                        BeepMuster = 0x0300;
                    }
                }
                /*           if(SendVersionToNavi)
                              {
                               SPI_StartTransmitPacket(SPI_CMD_VERSION);//#
                               SendVersionToNavi = 0;
                              }
                              else  SPI_StartTransmitPacket(SPI_CMD_VALUE);//#
                 */

                SPI_StartTransmitPacket(); //#

                SendSPI = 4;
                timer = SetDelay(20);
            }
            //if(UpdateMotor) DebugOut.Analog[26]++;
            LED_Update();
        }
        if (!SendSPI) {
            SPI_TransmitByte();
        }
    }
    return (1);
}