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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;
1 ingob 58
// -- Parametersatz aus EEPROM lesen ---
1051 killagreg 59
// number [1..5]
1 ingob 60
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
61
{
993 hbuss 62
   if((number > 5)||(number < 1)) number = 3;
1063 killagreg 63
   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
921 hbuss 64
   LED_Init();
1 ingob 65
}
66
 
67
// -- Parametersatz ins EEPROM schreiben ---
1051 killagreg 68
// number [1..5]
1 ingob 69
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
70
{
1051 killagreg 71
   if(number > 5) number = 5;
993 hbuss 72
   if(number < 1) return;
1063 killagreg 73
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
1171 hbuss 74
   eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
75
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken
1063 killagreg 76
   SetActiveParamSetNumber(number);
921 hbuss 77
   LED_Init();
1 ingob 78
}
79
 
80
unsigned char GetActiveParamSetNumber(void)
81
{
1063 killagreg 82
        unsigned char set;
83
        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
84
        if((set > 5) || (set < 1))
85
        {
86
                set = 3;
87
                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
88
        }
89
        return(set);
1 ingob 90
}
91
 
1063 killagreg 92
 
93
void SetActiveParamSetNumber(unsigned char number)
94
{
95
        if(number > 5) number = 5;
96
        if(number < 1) return;
97
        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                                 // diesen Parametersatz als aktuell merken
98
}
99
 
100
 
819 hbuss 101
void CalMk3Mag(void)
102
{
103
 static unsigned char stick = 1;
104
 
105
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
106
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
107
  {
108
   stick = 1;
109
   WinkelOut.CalcState++;
1051 killagreg 110
   if(WinkelOut.CalcState > 4)
111
    {
819 hbuss 112
//     WinkelOut.CalcState = 0; // in Uart.c
113
     beeptime = 1000;
1051 killagreg 114
    }
1232 hbuss 115
   else Piep(WinkelOut.CalcState,150);
819 hbuss 116
  }
117
  DebugOut.Analog[19] = WinkelOut.CalcState;
118
}
119
 
1268 hbuss 120
void LipoDetection(unsigned char print)
121
{
122
   unsigned int timer;
123
   if(print) printf("\n\rBatt:");
124
   if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
125
    {
126
         timer = SetDelay(500);
127
         if(print) while (!CheckDelay(timer));
128
         if(UBat < 130)
129
          {
130
           BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
131
           if(print)
132
            {
133
                 Piep(3,200);
134
             printf(" 3 Cells  ");
135
                }
136
          }
137
         else
138
          {
139
           BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
140
           if(print)
141
            {
142
                 Piep(4,200);
143
             printf(" 4 Cells  ");
144
                }
145
          }
146
    }
147
    else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
148
   if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
149
}
150
 
1 ingob 151
//############################################################################
152
//Hauptprogramm
153
int main (void)
154
//############################################################################
155
{
1211 hbuss 156
        unsigned int timer,i;
1051 killagreg 157
    DDRB  = 0x00;
158
    PORTB = 0x00;
188 holgerb 159
    for(timer = 0; timer < 1000; timer++); // verzögern
1051 killagreg 160
    if(PINB & 0x01)
918 hbuss 161
     {
1051 killagreg 162
      if(PINB & 0x02) PlatinenVersion = 13;
163
       else           PlatinenVersion = 11;
918 hbuss 164
     }
1051 killagreg 165
    else
1021 hbuss 166
     {
1051 killagreg 167
      if(PINB & 0x02) PlatinenVersion = 20;
168
       else           PlatinenVersion = 10;
1021 hbuss 169
     }
170
 
173 holgerb 171
    DDRC  = 0x81; // SCL
1036 hbuss 172
    DDRC  |=0x40; // HEF4017 Reset
1 ingob 173
    PORTC = 0xff; // Pullup SDA
174
    DDRB  = 0x1B; // LEDs und Druckoffset
175
    PORTB = 0x01; // LED_Rot
176
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
1153 hbuss 177
        PORTD = 0x47; // LED
1171 hbuss 178
    HEF4017R_ON;
1 ingob 179
    MCUSR &=~(1<<WDRF);
180
    WDTCSR |= (1<<WDCE)|(1<<WDE);
181
    WDTCSR = 0;
182
 
183
    beeptime = 2000;
184
        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
1111 hbuss 185
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
1 ingob 186
    ROT_OFF;
1051 killagreg 187
 
1 ingob 188
    Timer_Init();
1156 hbuss 189
        TIMER2_Init();
1 ingob 190
        UART_Init();
191
    rc_sum_init();
192
        ADC_Init();
193
        i2c_init();
597 ingob 194
        SPI_MasterInit();
1051 killagreg 195
 
1 ingob 196
        sei();
197
 
1211 hbuss 198
        printf("\n\r===================================");
1051 killagreg 199
        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 200
    if(UCSR1A == 0x20 && UCSR1C == 0x06)  // initial Values for 644P
1254 killagreg 201
     {
1172 hbuss 202
      Uart1Init();
203
     }
1 ingob 204
        GRN_ON;
1063 killagreg 205
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes
1051 killagreg 206
 
1212 hbuss 207
    if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
208
       (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff))                   // Settings reset via Koptertool
1209 hbuss 209
        {
1254 killagreg 210
     unsigned char i;
1209 hbuss 211
         RequiredMotors = 0;
212
     eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
213
     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
1254 killagreg 214
        }
1209 hbuss 215
        else // default
216
        {
1254 killagreg 217
     unsigned char i;
1211 hbuss 218
         printf("\n\rGenerating default Mixer Table");
1209 hbuss 219
         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;};
220
     // default = Quadro
221
     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
222
     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
223
     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
224
     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
1211 hbuss 225
         Mixer.Revision = MIXER_REVISION;
1254 killagreg 226
     memcpy(Mixer.Name, "Quadro\0", 11);
1209 hbuss 227
     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
228
    }
229
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
1211 hbuss 230
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
231
// + Check connected BL-Ctrls
232
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
233
        printf("\n\rFound BL-Ctrl: ");
234
    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
1232 hbuss 235
    timer = SetDelay(2000);
1211 hbuss 236
        for(i=0; i < MAX_MOTORS; i++)
237
         {
238
          UpdateMotor = 0;
239
      SendMotorData();
240
          while(!UpdateMotor);
1232 hbuss 241
      if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
242
        {
243
             while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
244
                }
1211 hbuss 245
          if(MotorPresent[i]) printf("%d ",i+1);
246
     }
247
        for(i=0; i < MAX_MOTORS; i++)
248
         {
249
          if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
250
          MotorError[i] = 0;
251
     }
252
        printf("\n\r===================================");
253
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
254
// + Check Settings
255
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 256
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
257
        {
1 ingob 258
          DefaultKonstanten1();
1171 hbuss 259
          printf("\n\rInit. EEPROM");
1051 killagreg 260
          for (unsigned char i=1;i<6;i++)
1 ingob 261
      {
395 hbuss 262
       if(i==2) DefaultKonstanten2(); // Kamera
263
       if(i==3) DefaultKonstanten3(); // Beginner
264
       if(i>3)  DefaultKonstanten2(); // Kamera
1254 killagreg 265
           if(PlatinenVersion >= 20)
266
            {
1167 hbuss 267
                 EE_Parameter.Gyro_D = 5;
1111 hbuss 268
                 EE_Parameter.Driftkomp = 0;
269
                 EE_Parameter.GyroAccFaktor = 27;
270
         EE_Parameter.WinkelUmschlagNick = 78;
271
         EE_Parameter.WinkelUmschlagRoll = 78;
272
                }
1171 hbuss 273
    // valid Stick-Settings?
274
           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)
275
            {
276
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
277
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
278
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
279
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
280
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
281
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
282
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
283
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
284
         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
285
                } else DefaultStickMapping();
1 ingob 286
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1051 killagreg 287
      }
1063 killagreg 288
          SetActiveParamSetNumber(3); // default-Setting
173 holgerb 289
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
1 ingob 290
        }
513 hbuss 291
 
1051 killagreg 292
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 293
     {
1211 hbuss 294
       printf("\n\rACC not calibrated !");
513 hbuss 295
     }
1051 killagreg 296
 
1 ingob 297
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1211 hbuss 298
    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
1 ingob 299
 
1051 killagreg 300
 
1 ingob 301
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
1051 killagreg 302
         {
1211 hbuss 303
           printf("\n\rCalibrating pressure sensor..");
1051 killagreg 304
           timer = SetDelay(1000);
1 ingob 305
       SucheLuftruckOffset();
306
           while (!CheckDelay(timer));
307
       printf("OK\n\r");
308
        }
1051 killagreg 309
 
1 ingob 310
        SetNeutral();
311
 
312
        ROT_OFF;
1051 killagreg 313
 
1 ingob 314
    beeptime = 2000;
1051 killagreg 315
    ExternControl.Digital[0] = 0x55;
1 ingob 316
 
1051 killagreg 317
 
1211 hbuss 318
        printf("\n\rControl: ");
1 ingob 319
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
1211 hbuss 320
        else printf("Normal (ACC-Mode)");
1051 killagreg 321
 
1 ingob 322
    LcdClear();
173 holgerb 323
    I2CTimeout = 5000;
819 hbuss 324
    WinkelOut.Orientation = 1;
1268 hbuss 325
    LipoDetection(1);
1232 hbuss 326
        printf("\n\r===================================\n\r");
1 ingob 327
        while (1)
328
        {
1155 hbuss 329
            if(UpdateMotor && AdReady)      // ReglerIntervall
1051 killagreg 330
            {
1171 hbuss 331
                    UpdateMotor=0;
819 hbuss 332
            if(WinkelOut.CalcState) CalMk3Mag();
1051 killagreg 333
            else MotorRegler();
1 ingob 334
            SendMotorData();
335
            ROT_OFF;
1051 killagreg 336
            if(PcZugriff) PcZugriff--;
337
             else
492 hbuss 338
              {
595 hbuss 339
                           ExternControl.Config = 0;
492 hbuss 340
               ExternStickNick = 0;
341
               ExternStickRoll = 0;
342
               ExternStickGier = 0;
343
              }
1 ingob 344
            if(SenderOkay)  SenderOkay--;
1254 killagreg 345
                        else
1232 hbuss 346
                         {
347
                          TIMSK1 |= _BV(ICIE1); // enable PPM-Input
1254 killagreg 348
                         }
1232 hbuss 349
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
350
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
1254 killagreg 351
            if(NaviDataOkay)
1215 hbuss 352
                         {
353
                          if(--NaviDataOkay == 0)
354
                           {
355
                    GPS_Nick = 0;
356
                GPS_Roll = 0;
357
               }
358
              }
1210 hbuss 359
            if(!--I2CTimeout || MissingMotor)
173 holgerb 360
                {
1254 killagreg 361
                  if(!I2CTimeout)
1210 hbuss 362
                                   {
363
                                    i2c_reset();
364
                    I2CTimeout = 5;
365
                                        }
1051 killagreg 366
                  if((BeepMuster == 0xffff) && MotorenEin)
367
                   {
173 holgerb 368
                    beeptime = 10000;
369
                    BeepMuster = 0x0080;
1051 killagreg 370
                   }
1 ingob 371
                }
1051 killagreg 372
            else
1 ingob 373
                {
1051 killagreg 374
                 ROT_OFF;
1 ingob 375
                }
805 hbuss 376
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
1 ingob 377
              {
378
               DatenUebertragung();
379
               BearbeiteRxDaten();
380
              }
1254 killagreg 381
                        else BearbeiteRxDaten();
382
                        if(CheckDelay(timer))
383
                        {
384
                                if(UBat < BattLowVoltageWarning)
385
                                {
386
                                        MikroKopterFlags |= FLAG_LOWBAT;
387
                                        if(BeepMuster == 0xffff)
388
                                        {
389
                                                beeptime = 6000;
390
                                                BeepMuster = 0x0300;
391
                                        }
392
                                }
393
                                else MikroKopterFlags &= ~FLAG_LOWBAT;
394
                                SPI_StartTransmitPacket();
723 hbuss 395
 
1254 killagreg 396
                                SendSPI = 4;
397
                                timer = SetDelay(20);
398
                        }
921 hbuss 399
           LED_Update();
604 hbuss 400
          }
723 hbuss 401
     if(!SendSPI) { SPI_TransmitByte(); }
1 ingob 402
    }
403
 return (1);
404
}
405
 
1219 hbuss 406