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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + Copyright (c) 04.2007 Holger Buss
3
// + Nur für den privaten Gebrauch
4
// + www.MikroKopter.com
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 6
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
8
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 10
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11
// + Verkauf von Luftbildaufnahmen, usw.
12
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 13
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 14
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18
// + eindeutig als Ursprung verlinkt und genannt werden
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21
// + Benutzung auf eigene Gefahr
22
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 24
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 25
// + mit unserer Zustimmung zulässig
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 29
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 30
// + this list of conditions and the following disclaimer.
31
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32
// +     from this software without specific prior written permission.
1051 killagreg 33
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 34
// +     for non-commercial use (directly or indirectly)
1051 killagreg 35
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 36
// +     with our written permission
1051 killagreg 37
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38
// +     clearly linked as origin
1 ingob 39
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
40
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 50
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 51
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52
#include "main.h"
53
 
54
unsigned char EEPromArray[E2END+1] EEMEM;
173 holgerb 55
unsigned char PlatinenVersion = 10;
723 hbuss 56
unsigned char SendVersionToNavi = 1;
1232 hbuss 57
unsigned char BattLowVoltageWarning = 94;
1298 hbuss 58
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
1 ingob 59
// -- Parametersatz aus EEPROM lesen ---
1051 killagreg 60
// number [1..5]
1 ingob 61
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
62
{
993 hbuss 63
   if((number > 5)||(number < 1)) number = 3;
1063 killagreg 64
   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
921 hbuss 65
   LED_Init();
1 ingob 66
}
67
 
68
// -- Parametersatz ins EEPROM schreiben ---
1051 killagreg 69
// number [1..5]
1 ingob 70
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
71
{
1051 killagreg 72
   if(number > 5) number = 5;
993 hbuss 73
   if(number < 1) return;
1063 killagreg 74
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
1171 hbuss 75
   eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
76
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken
1063 killagreg 77
   SetActiveParamSetNumber(number);
921 hbuss 78
   LED_Init();
1 ingob 79
}
80
 
81
unsigned char GetActiveParamSetNumber(void)
82
{
1063 killagreg 83
        unsigned char set;
84
        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
85
        if((set > 5) || (set < 1))
86
        {
87
                set = 3;
88
                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
89
        }
90
        return(set);
1 ingob 91
}
92
 
1063 killagreg 93
 
94
void SetActiveParamSetNumber(unsigned char number)
95
{
96
        if(number > 5) number = 5;
97
        if(number < 1) return;
98
        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken
99
}
100
 
101
 
819 hbuss 102
void CalMk3Mag(void)
103
{
104
 static unsigned char stick = 1;
105
 
106
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
107
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
108
  {
109
   stick = 1;
110
   WinkelOut.CalcState++;
1051 killagreg 111
   if(WinkelOut.CalcState > 4)
112
    {
819 hbuss 113
//     WinkelOut.CalcState = 0; // in Uart.c
114
     beeptime = 1000;
1051 killagreg 115
    }
1232 hbuss 116
   else Piep(WinkelOut.CalcState,150);
819 hbuss 117
  }
118
  DebugOut.Analog[19] = WinkelOut.CalcState;
119
}
120
 
1268 hbuss 121
void LipoDetection(unsigned char print)
122
{
123
   unsigned int timer;
124
   if(print) printf("\n\rBatt:");
125
   if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
126
    {
127
         timer = SetDelay(500);
128
         if(print) while (!CheckDelay(timer));
129
         if(UBat < 130)
130
          {
131
           BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
132
           if(print)
133
            {
134
                 Piep(3,200);
135
             printf(" 3 Cells  ");
136
                }
137
          }
138
         else
139
          {
140
           BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
141
           if(print)
142
            {
143
                 Piep(4,200);
144
             printf(" 4 Cells  ");
145
                }
146
          }
147
    }
148
    else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
1278 hbuss 149
        if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
1268 hbuss 150
   if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
151
}
152
 
1 ingob 153
//############################################################################
154
//Hauptprogramm
155
int main (void)
156
//############################################################################
157
{
1298 hbuss 158
        unsigned int timer,i,timer2 = 0;
1051 killagreg 159
    DDRB  = 0x00;
160
    PORTB = 0x00;
188 holgerb 161
    for(timer = 0; timer < 1000; timer++); // verzögern
1051 killagreg 162
    if(PINB & 0x01)
918 hbuss 163
     {
1051 killagreg 164
      if(PINB & 0x02) PlatinenVersion = 13;
165
       else           PlatinenVersion = 11;
918 hbuss 166
     }
1051 killagreg 167
    else
1021 hbuss 168
     {
1051 killagreg 169
      if(PINB & 0x02) PlatinenVersion = 20;
170
       else           PlatinenVersion = 10;
1021 hbuss 171
     }
172
 
173 holgerb 173
    DDRC  = 0x81; // SCL
1036 hbuss 174
    DDRC  |=0x40; // HEF4017 Reset
1 ingob 175
    PORTC = 0xff; // Pullup SDA
176
    DDRB  = 0x1B; // LEDs und Druckoffset
177
    PORTB = 0x01; // LED_Rot
178
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
1153 hbuss 179
        PORTD = 0x47; // LED
1171 hbuss 180
    HEF4017R_ON;
1 ingob 181
    MCUSR &=~(1<<WDRF);
182
    WDTCSR |= (1<<WDCE)|(1<<WDE);
183
    WDTCSR = 0;
184
 
185
    beeptime = 2000;
186
        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
1111 hbuss 187
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
1 ingob 188
    ROT_OFF;
1051 killagreg 189
 
1 ingob 190
    Timer_Init();
1156 hbuss 191
        TIMER2_Init();
1 ingob 192
        UART_Init();
193
    rc_sum_init();
194
        ADC_Init();
195
        i2c_init();
597 ingob 196
        SPI_MasterInit();
1051 killagreg 197
 
1 ingob 198
        sei();
199
 
1211 hbuss 200
        printf("\n\r===================================");
1051 killagreg 201
        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
1172 hbuss 202
    if(UCSR1A == 0x20 && UCSR1C == 0x06)  // initial Values for 644P
1254 killagreg 203
     {
1172 hbuss 204
      Uart1Init();
205
     }
1 ingob 206
        GRN_ON;
1063 killagreg 207
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
1051 killagreg 208
 
1212 hbuss 209
    if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
210
       (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff))                   // Settings reset via Koptertool
1209 hbuss 211
        {
1254 killagreg 212
     unsigned char i;
1209 hbuss 213
         RequiredMotors = 0;
214
     eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
215
     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
1254 killagreg 216
        }
1209 hbuss 217
        else // default
218
        {
1254 killagreg 219
     unsigned char i;
1211 hbuss 220
         printf("\n\rGenerating default Mixer Table");
1209 hbuss 221
         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;};
222
     // default = Quadro
223
     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
224
     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
225
     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
226
     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
1211 hbuss 227
         Mixer.Revision = MIXER_REVISION;
1254 killagreg 228
     memcpy(Mixer.Name, "Quadro\0", 11);
1209 hbuss 229
     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
230
    }
231
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
1211 hbuss 232
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
233
// + Check connected BL-Ctrls
234
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
235
        printf("\n\rFound BL-Ctrl: ");
236
    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
1232 hbuss 237
    timer = SetDelay(2000);
1211 hbuss 238
        for(i=0; i < MAX_MOTORS; i++)
239
         {
240
          UpdateMotor = 0;
241
      SendMotorData();
242
          while(!UpdateMotor);
1232 hbuss 243
      if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
244
        {
245
             while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
246
                }
1211 hbuss 247
          if(MotorPresent[i]) printf("%d ",i+1);
248
     }
249
        for(i=0; i < MAX_MOTORS; i++)
250
         {
1320 hbuss 251
          if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)
252
           {
253
            printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
254
                ServoActive = 1; // just in case the FC would be used as camera-stabilizer
255
           }   
1211 hbuss 256
          MotorError[i] = 0;
257
     }
1320 hbuss 258
        printf("\n\r===================================");
259
 
1211 hbuss 260
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
261
// + Check Settings
262
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 263
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
264
        {
1 ingob 265
          DefaultKonstanten1();
1171 hbuss 266
          printf("\n\rInit. EEPROM");
1051 killagreg 267
          for (unsigned char i=1;i<6;i++)
1 ingob 268
      {
395 hbuss 269
       if(i==2) DefaultKonstanten2(); // Kamera
270
       if(i==3) DefaultKonstanten3(); // Beginner
271
       if(i>3)  DefaultKonstanten2(); // Kamera
1254 killagreg 272
           if(PlatinenVersion >= 20)
273
            {
1167 hbuss 274
                 EE_Parameter.Gyro_D = 5;
1111 hbuss 275
                 EE_Parameter.Driftkomp = 0;
276
                 EE_Parameter.GyroAccFaktor = 27;
277
         EE_Parameter.WinkelUmschlagNick = 78;
278
         EE_Parameter.WinkelUmschlagRoll = 78;
279
                }
1171 hbuss 280
    // valid Stick-Settings?
281
           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)
282
            {
283
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
284
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
285
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
286
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
287
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
288
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
289
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
290
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
291
         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
292
                } else DefaultStickMapping();
1 ingob 293
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1051 killagreg 294
      }
1063 killagreg 295
          SetActiveParamSetNumber(3); // default-Setting
173 holgerb 296
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
1 ingob 297
        }
513 hbuss 298
 
1298 hbuss 299
    FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
300
    FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);
1320 hbuss 301
    if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff)
1298 hbuss 302
         {
303
          FlugMinuten = 0;
304
          FlugMinutenGesamt = 0;
305
         }
306
    printf("\n\rFlight-time %u min  Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
307
 
1051 killagreg 308
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 309
     {
1211 hbuss 310
       printf("\n\rACC not calibrated !");
513 hbuss 311
     }
1051 killagreg 312
 
1 ingob 313
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1211 hbuss 314
    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
1 ingob 315
 
1051 killagreg 316
 
1 ingob 317
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
1051 killagreg 318
         {
1211 hbuss 319
           printf("\n\rCalibrating pressure sensor..");
1051 killagreg 320
           timer = SetDelay(1000);
1 ingob 321
       SucheLuftruckOffset();
322
           while (!CheckDelay(timer));
323
       printf("OK\n\r");
324
        }
1051 killagreg 325
 
1 ingob 326
        SetNeutral();
327
 
328
        ROT_OFF;
1051 killagreg 329
 
1 ingob 330
    beeptime = 2000;
1051 killagreg 331
    ExternControl.Digital[0] = 0x55;
1 ingob 332
 
1051 killagreg 333
 
1211 hbuss 334
        printf("\n\rControl: ");
1 ingob 335
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
1211 hbuss 336
        else printf("Normal (ACC-Mode)");
1051 killagreg 337
 
1 ingob 338
    LcdClear();
173 holgerb 339
    I2CTimeout = 5000;
819 hbuss 340
    WinkelOut.Orientation = 1;
1268 hbuss 341
    LipoDetection(1);
1232 hbuss 342
        printf("\n\r===================================\n\r");
1320 hbuss 343
//SpektrumBinding();
344
    timer = SetDelay(100);
1 ingob 345
        while (1)
346
        {
1155 hbuss 347
            if(UpdateMotor && AdReady)      // ReglerIntervall
1051 killagreg 348
            {
1171 hbuss 349
                    UpdateMotor=0;
1328 hbuss 350
J3High;
819 hbuss 351
            if(WinkelOut.CalcState) CalMk3Mag();
1051 killagreg 352
            else MotorRegler();
1 ingob 353
            SendMotorData();
1328 hbuss 354
J3Low;
1 ingob 355
            ROT_OFF;
356
            if(SenderOkay)  SenderOkay--;
1309 hbuss 357
                        else TIMSK1 |= _BV(ICIE1); // enable PPM-Input
358
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++                 
1316 hbuss 359
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
360
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
1309 hbuss 361
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1254 killagreg 362
            if(NaviDataOkay)
1215 hbuss 363
                         {
364
                          if(--NaviDataOkay == 0)
365
                           {
366
                    GPS_Nick = 0;
367
                GPS_Roll = 0;
368
               }
369
              }
1210 hbuss 370
            if(!--I2CTimeout || MissingMotor)
173 holgerb 371
                {
1254 killagreg 372
                  if(!I2CTimeout)
1210 hbuss 373
                                   {
374
                                    i2c_reset();
375
                    I2CTimeout = 5;
1322 hbuss 376
                                        DebugOut.Analog[28]++; // I2C-Error
377
                                   }
1051 killagreg 378
                  if((BeepMuster == 0xffff) && MotorenEin)
379
                   {
173 holgerb 380
                    beeptime = 10000;
381
                    BeepMuster = 0x0080;
1051 killagreg 382
                   }
1 ingob 383
                }
1051 killagreg 384
            else
1 ingob 385
                {
1051 killagreg 386
                 ROT_OFF;
1 ingob 387
                }
805 hbuss 388
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
1 ingob 389
              {
390
               DatenUebertragung();
391
               BearbeiteRxDaten();
392
              }
1254 killagreg 393
                        else BearbeiteRxDaten();
394
                        if(CheckDelay(timer))
395
                        {
1320 hbuss 396
                          timer += 20;//SetDelay(20);
1309 hbuss 397
              if(PcZugriff) PcZugriff--;
398
              else
399
               {
400
                            ExternControl.Config = 0;
401
                ExternStickNick = 0;
402
                ExternStickRoll = 0;
403
                ExternStickGier = 0;
404
                if(BeepMuster == 0xffff && SenderOkay == 0)
405
                {
406
                 beeptime = 15000;
407
                 BeepMuster = 0x0c00;
408
                }
409
               }
410
                           if(UBat < BattLowVoltageWarning)
1254 killagreg 411
                                {
412
                                        MikroKopterFlags |= FLAG_LOWBAT;
413
                                        if(BeepMuster == 0xffff)
414
                                        {
415
                                                beeptime = 6000;
416
                                                BeepMuster = 0x0300;
417
                                        }
418
                                }
419
                                else MikroKopterFlags &= ~FLAG_LOWBAT;
420
                                SPI_StartTransmitPacket();
421
                                SendSPI = 4;
1320 hbuss 422
                                if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
423
                                if(++timer2 == 2930)  // eine Minute
1298 hbuss 424
                                 {
425
                                   timer2 = 0;
426
                   FlugMinuten++;
427
                       FlugMinutenGesamt++;
428
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); // ACC-NeutralWerte speichern
429
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); // ACC-NeutralWerte speichern
430
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256); // ACC-NeutralWerte speichern
431
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256); // ACC-NeutralWerte speichern
432
                             }
1254 killagreg 433
                        }
921 hbuss 434
           LED_Update();
604 hbuss 435
          }
723 hbuss 436
     if(!SendSPI) { SPI_TransmitByte(); }
1 ingob 437
    }
438
 return (1);
439
}
440
 
1219 hbuss 441