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Rev | Author | Line No. | Line |
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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1338 | ingob | 2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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1 | ingob | 4 | // + www.MikroKopter.com |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1338 | ingob | 24 | // + Die Portierung oder Nutzung 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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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 |
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32 | // + from this software without specific prior written permission. |
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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 |
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1338 | ingob | 39 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 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 |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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1051 | killagreg | 50 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
52 | #include "main.h" |
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53 | |||
1438 | ingob | 54 | |
1 | ingob | 55 | unsigned char EEPromArray[E2END+1] EEMEM; |
173 | holgerb | 56 | unsigned char PlatinenVersion = 10; |
723 | hbuss | 57 | unsigned char SendVersionToNavi = 1; |
1232 | hbuss | 58 | unsigned char BattLowVoltageWarning = 94; |
1298 | hbuss | 59 | unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
1444 | ingob | 60 | |
61 | pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
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62 | |||
1 | ingob | 63 | // -- Parametersatz aus EEPROM lesen --- |
1051 | killagreg | 64 | // number [1..5] |
1 | ingob | 65 | void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
66 | { |
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993 | hbuss | 67 | if((number > 5)||(number < 1)) number = 3; |
1063 | killagreg | 68 | eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
921 | hbuss | 69 | LED_Init(); |
1 | ingob | 70 | } |
71 | |||
72 | // -- Parametersatz ins EEPROM schreiben --- |
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1051 | killagreg | 73 | // number [1..5] |
1 | ingob | 74 | void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
75 | { |
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1051 | killagreg | 76 | if(number > 5) number = 5; |
993 | hbuss | 77 | if(number < 1) return; |
1063 | killagreg | 78 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
1171 | hbuss | 79 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken |
1377 | hbuss | 80 | eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 12); // 12 Kanäle merken |
1063 | killagreg | 81 | SetActiveParamSetNumber(number); |
921 | hbuss | 82 | LED_Init(); |
1 | ingob | 83 | } |
84 | |||
85 | unsigned char GetActiveParamSetNumber(void) |
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86 | { |
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1063 | killagreg | 87 | unsigned char set; |
88 | set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
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89 | if((set > 5) || (set < 1)) |
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90 | { |
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91 | set = 3; |
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92 | SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
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93 | } |
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94 | return(set); |
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1 | ingob | 95 | } |
96 | |||
1063 | killagreg | 97 | void SetActiveParamSetNumber(unsigned char number) |
98 | { |
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99 | if(number > 5) number = 5; |
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100 | if(number < 1) return; |
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101 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
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102 | } |
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103 | |||
104 | |||
819 | hbuss | 105 | void CalMk3Mag(void) |
106 | { |
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107 | static unsigned char stick = 1; |
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108 | |||
109 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
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110 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
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111 | { |
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112 | stick = 1; |
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113 | WinkelOut.CalcState++; |
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1051 | killagreg | 114 | if(WinkelOut.CalcState > 4) |
115 | { |
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819 | hbuss | 116 | // WinkelOut.CalcState = 0; // in Uart.c |
117 | beeptime = 1000; |
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1051 | killagreg | 118 | } |
1232 | hbuss | 119 | else Piep(WinkelOut.CalcState,150); |
819 | hbuss | 120 | } |
121 | DebugOut.Analog[19] = WinkelOut.CalcState; |
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122 | } |
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123 | |||
1438 | ingob | 124 | |
125 | |||
1268 | hbuss | 126 | void LipoDetection(unsigned char print) |
127 | { |
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128 | unsigned int timer; |
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129 | if(print) printf("\n\rBatt:"); |
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130 | if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
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131 | { |
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132 | timer = SetDelay(500); |
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133 | if(print) while (!CheckDelay(timer)); |
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134 | if(UBat < 130) |
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135 | { |
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136 | BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung; |
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1420 | killagreg | 137 | if(print) |
1268 | hbuss | 138 | { |
139 | Piep(3,200); |
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140 | printf(" 3 Cells "); |
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1420 | killagreg | 141 | } |
1268 | hbuss | 142 | } |
143 | else |
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144 | { |
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145 | BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung; |
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1420 | killagreg | 146 | if(print) |
1268 | hbuss | 147 | { |
148 | Piep(4,200); |
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149 | printf(" 4 Cells "); |
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1420 | killagreg | 150 | } |
1268 | hbuss | 151 | } |
152 | } |
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153 | else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
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1374 | hbuss | 154 | // if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93; |
1268 | hbuss | 155 | if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
156 | } |
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157 | |||
1 | ingob | 158 | //############################################################################ |
159 | //Hauptprogramm |
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160 | int main (void) |
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161 | //############################################################################ |
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162 | { |
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1424 | ingob | 163 | unsigned int timer,i,timer2 = 0, timerPolling; |
1051 | killagreg | 164 | DDRB = 0x00; |
165 | PORTB = 0x00; |
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188 | holgerb | 166 | for(timer = 0; timer < 1000; timer++); // verzögern |
1051 | killagreg | 167 | if(PINB & 0x01) |
918 | hbuss | 168 | { |
1051 | killagreg | 169 | if(PINB & 0x02) PlatinenVersion = 13; |
170 | else PlatinenVersion = 11; |
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918 | hbuss | 171 | } |
1051 | killagreg | 172 | else |
1021 | hbuss | 173 | { |
1051 | killagreg | 174 | if(PINB & 0x02) PlatinenVersion = 20; |
175 | else PlatinenVersion = 10; |
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1021 | hbuss | 176 | } |
177 | |||
173 | holgerb | 178 | DDRC = 0x81; // SCL |
1036 | hbuss | 179 | DDRC |=0x40; // HEF4017 Reset |
1 | ingob | 180 | PORTC = 0xff; // Pullup SDA |
181 | DDRB = 0x1B; // LEDs und Druckoffset |
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182 | PORTB = 0x01; // LED_Rot |
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183 | DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
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1153 | hbuss | 184 | PORTD = 0x47; // LED |
1171 | hbuss | 185 | HEF4017R_ON; |
1 | ingob | 186 | MCUSR &=~(1<<WDRF); |
187 | WDTCSR |= (1<<WDCE)|(1<<WDE); |
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188 | WDTCSR = 0; |
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189 | |||
190 | beeptime = 2000; |
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191 | StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
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1111 | hbuss | 192 | if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
1 | ingob | 193 | ROT_OFF; |
1444 | ingob | 194 | |
1 | ingob | 195 | Timer_Init(); |
1156 | hbuss | 196 | TIMER2_Init(); |
1 | ingob | 197 | UART_Init(); |
198 | rc_sum_init(); |
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199 | ADC_Init(); |
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200 | i2c_init(); |
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597 | ingob | 201 | SPI_MasterInit(); |
1435 | killagreg | 202 | LIBFC_Init(); |
1431 | ingob | 203 | GRN_ON; |
204 | sei(); |
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1344 | hbuss | 205 | |
1377 | hbuss | 206 | ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes |
1435 | killagreg | 207 | |
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 |
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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)); |
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215 | for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;} |
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1254 | killagreg | 216 | } |
1209 | hbuss | 217 | else // default |
218 | { |
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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 |
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223 | Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64; |
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224 | Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64; |
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225 | Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64; |
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226 | Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64; |
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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 | } |
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231 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
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1431 | ingob | 232 | |
1435 | killagreg | 233 | |
234 | |||
1211 | hbuss | 235 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
236 | // + Check connected BL-Ctrls |
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237 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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238 | printf("\n\rFound BL-Ctrl: "); |
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239 | motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data |
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1232 | hbuss | 240 | timer = SetDelay(2000); |
1420 | killagreg | 241 | |
242 | |||
1211 | hbuss | 243 | for(i=0; i < MAX_MOTORS; i++) |
244 | { |
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245 | UpdateMotor = 0; |
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246 | SendMotorData(); |
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247 | while(!UpdateMotor); |
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1232 | hbuss | 248 | if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up |
249 | { |
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250 | while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);}; |
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251 | } |
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1211 | hbuss | 252 | if(MotorPresent[i]) printf("%d ",i+1); |
253 | } |
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254 | for(i=0; i < MAX_MOTORS; i++) |
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255 | { |
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1420 | killagreg | 256 | if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) |
1320 | hbuss | 257 | { |
258 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
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259 | ServoActive = 1; // just in case the FC would be used as camera-stabilizer |
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1420 | killagreg | 260 | } |
1211 | hbuss | 261 | MotorError[i] = 0; |
262 | } |
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1320 | hbuss | 263 | printf("\n\r==================================="); |
1356 | hbuss | 264 | SendMotorData(); |
1403 | hbuss | 265 | //printf("\n size: %u",STRUCT_PARAM_LAENGE); |
1320 | hbuss | 266 | |
1211 | hbuss | 267 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
268 | // + Check Settings |
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269 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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1051 | killagreg | 270 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
271 | { |
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1 | ingob | 272 | DefaultKonstanten1(); |
1171 | hbuss | 273 | printf("\n\rInit. EEPROM"); |
1051 | killagreg | 274 | for (unsigned char i=1;i<6;i++) |
1 | ingob | 275 | { |
395 | hbuss | 276 | if(i==2) DefaultKonstanten2(); // Kamera |
277 | if(i==3) DefaultKonstanten3(); // Beginner |
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278 | if(i>3) DefaultKonstanten2(); // Kamera |
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1254 | killagreg | 279 | if(PlatinenVersion >= 20) |
280 | { |
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1167 | hbuss | 281 | EE_Parameter.Gyro_D = 5; |
1111 | hbuss | 282 | EE_Parameter.Driftkomp = 0; |
283 | EE_Parameter.GyroAccFaktor = 27; |
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284 | EE_Parameter.WinkelUmschlagNick = 78; |
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285 | EE_Parameter.WinkelUmschlagRoll = 78; |
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286 | } |
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1171 | hbuss | 287 | // valid Stick-Settings? |
288 | 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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289 | { |
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290 | EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
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291 | EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
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292 | EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
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293 | EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
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294 | EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
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295 | EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
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296 | EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
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297 | EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
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1420 | killagreg | 298 | |
1377 | hbuss | 299 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255) |
300 | { |
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301 | EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]); |
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302 | EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]); |
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303 | EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]); |
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304 | EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]); |
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1420 | killagreg | 305 | } |
306 | else |
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1377 | hbuss | 307 | { |
308 | EE_Parameter.Kanalbelegung[K_POTI5] = 9; |
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309 | EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
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310 | EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
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311 | EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
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312 | } |
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1171 | hbuss | 313 | if(i==1) printf(": Generating Default-Parameter using old Stick Settings"); |
314 | } else DefaultStickMapping(); |
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1 | ingob | 315 | WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
1051 | killagreg | 316 | } |
1063 | killagreg | 317 | SetActiveParamSetNumber(3); // default-Setting |
173 | holgerb | 318 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
1 | ingob | 319 | } |
1435 | killagreg | 320 | |
321 | |||
322 | |||
1298 | hbuss | 323 | FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]); |
324 | FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]); |
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1350 | hbuss | 325 | if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff) |
1298 | hbuss | 326 | { |
327 | FlugMinuten = 0; |
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328 | FlugMinutenGesamt = 0; |
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329 | } |
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330 | printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt); |
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331 | |||
1051 | killagreg | 332 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
513 | hbuss | 333 | { |
1211 | hbuss | 334 | printf("\n\rACC not calibrated !"); |
513 | hbuss | 335 | } |
1051 | killagreg | 336 | |
1 | ingob | 337 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
1211 | hbuss | 338 | printf("\n\rUsing parameterset %d", GetActiveParamSetNumber()); |
1 | ingob | 339 | |
1051 | killagreg | 340 | |
1 | ingob | 341 | if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
1051 | killagreg | 342 | { |
1211 | hbuss | 343 | printf("\n\rCalibrating pressure sensor.."); |
1051 | killagreg | 344 | timer = SetDelay(1000); |
1 | ingob | 345 | SucheLuftruckOffset(); |
346 | while (!CheckDelay(timer)); |
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347 | printf("OK\n\r"); |
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348 | } |
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1051 | killagreg | 349 | |
1 | ingob | 350 | SetNeutral(); |
351 | |||
352 | ROT_OFF; |
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1051 | killagreg | 353 | |
1 | ingob | 354 | beeptime = 2000; |
1051 | killagreg | 355 | ExternControl.Digital[0] = 0x55; |
1 | ingob | 356 | |
1051 | killagreg | 357 | |
1211 | hbuss | 358 | printf("\n\rControl: "); |
1 | ingob | 359 | if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
1211 | hbuss | 360 | else printf("Normal (ACC-Mode)"); |
1051 | killagreg | 361 | |
1 | ingob | 362 | LcdClear(); |
173 | holgerb | 363 | I2CTimeout = 5000; |
819 | hbuss | 364 | WinkelOut.Orientation = 1; |
1268 | hbuss | 365 | LipoDetection(1); |
1435 | killagreg | 366 | |
367 | LIBFC_ReceiverInit(); |
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1444 | ingob | 368 | |
1232 | hbuss | 369 | printf("\n\r===================================\n\r"); |
1320 | hbuss | 370 | //SpektrumBinding(); |
1350 | hbuss | 371 | timer = SetDelay(2000); |
1424 | ingob | 372 | timerPolling = SetDelay(250); |
1 | ingob | 373 | while (1) |
374 | { |
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1420 | killagreg | 375 | |
1424 | ingob | 376 | if(CheckDelay(timerPolling)) |
1419 | ingob | 377 | { |
1424 | ingob | 378 | timerPolling = SetDelay(100); |
1435 | killagreg | 379 | LIBFC_Polling(); |
1419 | ingob | 380 | } |
1420 | killagreg | 381 | |
1419 | ingob | 382 | if(UpdateMotor && AdReady) // ReglerIntervall |
1051 | killagreg | 383 | { |
1171 | hbuss | 384 | UpdateMotor=0; |
819 | hbuss | 385 | if(WinkelOut.CalcState) CalMk3Mag(); |
1051 | killagreg | 386 | else MotorRegler(); |
1 | ingob | 387 | SendMotorData(); |
388 | ROT_OFF; |
||
389 | if(SenderOkay) SenderOkay--; |
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1309 | hbuss | 390 | else TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
1420 | killagreg | 391 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1423 | hbuss | 392 | if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
393 | if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
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1309 | hbuss | 394 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1420 | killagreg | 395 | |
1210 | hbuss | 396 | if(!--I2CTimeout || MissingMotor) |
173 | holgerb | 397 | { |
1254 | killagreg | 398 | if(!I2CTimeout) |
1210 | hbuss | 399 | { |
400 | i2c_reset(); |
||
401 | I2CTimeout = 5; |
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1322 | hbuss | 402 | DebugOut.Analog[28]++; // I2C-Error |
1423 | hbuss | 403 | FCFlags |= FCFLAG_I2CERR; |
1322 | hbuss | 404 | } |
1051 | killagreg | 405 | if((BeepMuster == 0xffff) && MotorenEin) |
406 | { |
||
173 | holgerb | 407 | beeptime = 10000; |
408 | BeepMuster = 0x0080; |
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1051 | killagreg | 409 | } |
1 | ingob | 410 | } |
1051 | killagreg | 411 | else |
1 | ingob | 412 | { |
1051 | killagreg | 413 | ROT_OFF; |
1423 | hbuss | 414 | if(!beeptime) FCFlags &= ~FCFLAG_I2CERR; |
1 | ingob | 415 | } |
805 | hbuss | 416 | if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
1 | ingob | 417 | { |
418 | DatenUebertragung(); |
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419 | BearbeiteRxDaten(); |
||
420 | } |
||
1254 | killagreg | 421 | else BearbeiteRxDaten(); |
422 | if(CheckDelay(timer)) |
||
423 | { |
||
1420 | killagreg | 424 | timer += 20; // 20 ms interval |
425 | if(PcZugriff) PcZugriff--; |
||
426 | else |
||
427 | { |
||
428 | ExternControl.Config = 0; |
||
429 | ExternStickNick = 0; |
||
430 | ExternStickRoll = 0; |
||
431 | ExternStickGier = 0; |
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432 | if(BeepMuster == 0xffff && SenderOkay == 0) |
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433 | { |
||
434 | beeptime = 15000; |
||
435 | BeepMuster = 0x0c00; |
||
436 | } |
||
437 | } |
||
438 | if(NaviDataOkay) |
||
439 | { |
||
440 | NaviDataOkay--; |
||
441 | FCFlags &= ~FCFLAG_SPI_RX_ERR; |
||
442 | } |
||
443 | else |
||
444 | { |
||
445 | GPS_Nick = 0; |
||
446 | GPS_Roll = 0; |
||
1423 | hbuss | 447 | if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR; |
1420 | killagreg | 448 | } |
1309 | hbuss | 449 | if(UBat < BattLowVoltageWarning) |
1254 | killagreg | 450 | { |
1420 | killagreg | 451 | FCFlags |= FCFLAG_LOWBAT; |
1254 | killagreg | 452 | if(BeepMuster == 0xffff) |
453 | { |
||
454 | beeptime = 6000; |
||
455 | BeepMuster = 0x0300; |
||
456 | } |
||
457 | } |
||
1423 | hbuss | 458 | else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT; |
1420 | killagreg | 459 | |
1254 | killagreg | 460 | SPI_StartTransmitPacket(); |
461 | SendSPI = 4; |
||
1420 | killagreg | 462 | |
1320 | hbuss | 463 | if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
1420 | killagreg | 464 | |
1320 | hbuss | 465 | if(++timer2 == 2930) // eine Minute |
1298 | hbuss | 466 | { |
467 | timer2 = 0; |
||
468 | FlugMinuten++; |
||
469 | FlugMinutenGesamt++; |
||
1420 | killagreg | 470 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); |
471 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); |
||
472 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256); |
||
473 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256); |
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1344 | hbuss | 474 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
1298 | hbuss | 475 | } |
1254 | killagreg | 476 | } |
921 | hbuss | 477 | LED_Update(); |
604 | hbuss | 478 | } |
723 | hbuss | 479 | if(!SendSPI) { SPI_TransmitByte(); } |
1 | ingob | 480 | } |
481 | return (1); |
||
482 | } |
||
483 | |||
1219 | hbuss | 484 |