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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + www.MikroKopter.com
3
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 4
// + Software Nutzungsbedingungen (english version: see below)
5
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
8
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
1 ingob 10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 11
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
12
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
13
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
17
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
19
// + des Mitverschuldens offen.
20
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
21
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
1 ingob 28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 29
// + Software LICENSING TERMS
1 ingob 30
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 31
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
32
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
33
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34
// + The Software may only be used with the Licensor's products.
35
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37
// + agreement shall be the property of the Licensor.
38
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39
// + features that can be used to identify the program may not be altered or defaced by the customer.
40
// + The customer shall be responsible for taking reasonable precautions
41
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
43
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50
// + #### END OF LICENSING TERMS ####
51
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
1 ingob 52
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
53
#include "main.h"
1913 holgerb 54
unsigned char DisableRcOffBeeping = 0;
173 holgerb 55
unsigned char PlatinenVersion = 10;
1232 hbuss 56
unsigned char BattLowVoltageWarning = 94;
1298 hbuss 57
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
1512 holgerb 58
unsigned int FlugSekunden = 0;
1444 ingob 59
pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
1702 holgerb 60
unsigned char FoundMotors = 0;
1834 holgerb 61
unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box
1444 ingob 62
 
2030 holgerb 63
void PrintLine(void)
64
{
65
 printf("\n\r===================================");
66
}
67
 
68
 
819 hbuss 69
void CalMk3Mag(void)
70
{
71
 static unsigned char stick = 1;
72
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
73
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
74
  {
75
   stick = 1;
76
   WinkelOut.CalcState++;
1051 killagreg 77
   if(WinkelOut.CalcState > 4)
78
    {
819 hbuss 79
//     WinkelOut.CalcState = 0; // in Uart.c
80
     beeptime = 1000;
1051 killagreg 81
    }
1232 hbuss 82
   else Piep(WinkelOut.CalcState,150);
819 hbuss 83
  }
84
  DebugOut.Analog[19] = WinkelOut.CalcState;
85
}
86
 
1438 ingob 87
 
1268 hbuss 88
void LipoDetection(unsigned char print)
89
{
1654 killagreg 90
        #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO
91
        unsigned int timer, cells;
92
        if(print) printf("\n\rBatt:");
93
        if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
94
        {
95
                timer = SetDelay(500);
96
                if(print) while (!CheckDelay(timer));
1657 killagreg 97
                // up to 6s LiPo, less than 2s is technical impossible
98
                for(cells = 2; cells < 7; cells++)
1654 killagreg 99
                {
100
                        if(UBat < cells * MAX_CELL_VOLTAGE) break;
1420 killagreg 101
                }
1654 killagreg 102
 
103
                BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung;
104
                if(print)
105
                {
106
                        Piep(cells, 200);
107
                        printf(" %d Cells ", cells);
1420 killagreg 108
                }
1654 killagreg 109
        }
110
        else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
2034 holgerb 111
        if(print) printf(" Low warning: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
1268 hbuss 112
}
113
 
1 ingob 114
//############################################################################
115
//Hauptprogramm
116
int main (void)
117
//############################################################################
118
{
1424 ingob 119
        unsigned int timer,i,timer2 = 0, timerPolling;
1479 killagreg 120
 
1051 killagreg 121
    DDRB  = 0x00;
122
    PORTB = 0x00;
188 holgerb 123
    for(timer = 0; timer < 1000; timer++); // verzögern
1660 holgerb 124
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
2183 holgerb 125
 
126
    if(PINB & 0x02) PlatinenVersion = 21;
127
       else          
128
            {
129
                  PlatinenVersion = 22;
2191 holgerb 130
//                ACC_AMPLIFY = 7; // der ACC-Sensor hat etwa 16% weniger Ausschlag
2183 holgerb 131
                }  
132
 
1660 holgerb 133
#else
134
        if(PINB & 0x01)
918 hbuss 135
     {
1051 killagreg 136
      if(PINB & 0x02) PlatinenVersion = 13;
137
       else           PlatinenVersion = 11;
918 hbuss 138
     }
1051 killagreg 139
    else
1021 hbuss 140
     {
1051 killagreg 141
      if(PINB & 0x02) PlatinenVersion = 20;
142
       else           PlatinenVersion = 10;
1021 hbuss 143
     }
1660 holgerb 144
#endif
173 holgerb 145
    DDRC  = 0x81; // SCL
1036 hbuss 146
    DDRC  |=0x40; // HEF4017 Reset
1 ingob 147
    PORTC = 0xff; // Pullup SDA
148
    DDRB  = 0x1B; // LEDs und Druckoffset
149
    PORTB = 0x01; // LED_Rot
150
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
1153 hbuss 151
        PORTD = 0x47; // LED
2146 holgerb 152
    HEF4017Reset_ON;
1 ingob 153
    MCUSR &=~(1<<WDRF);
154
    WDTCSR |= (1<<WDCE)|(1<<WDE);
155
    WDTCSR = 0;
156
 
1652 holgerb 157
    beeptime = 2500;
1660 holgerb 158
        StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
159
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
1 ingob 160
    ROT_OFF;
1479 killagreg 161
 
1 ingob 162
    Timer_Init();
1156 hbuss 163
        TIMER2_Init();
1 ingob 164
        UART_Init();
165
    rc_sum_init();
166
        ADC_Init();
1743 holgerb 167
        I2C_Init(1);
597 ingob 168
        SPI_MasterInit();
1486 killagreg 169
        Capacity_Init();
1435 killagreg 170
        LIBFC_Init();
1431 ingob 171
        GRN_ON;
172
    sei();
1622 killagreg 173
        ParamSet_Init();
1344 hbuss 174
 
1435 killagreg 175
 
1211 hbuss 176
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
177
// + Check connected BL-Ctrls
178
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1648 killagreg 179
        // Check connected BL-Ctrls
180
        BLFlags |= BLFLAG_READ_VERSION;
1662 killagreg 181
        motor_read = 0;  // read the first I2C-Data
1648 killagreg 182
        SendMotorData();
1683 killagreg 183
        timer = SetDelay(500);
184
        while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
1654 killagreg 185
 
1648 killagreg 186
    printf("\n\rFound BL-Ctrl: ");
1591 holgerb 187
    timer = SetDelay(4000);
1211 hbuss 188
        for(i=0; i < MAX_MOTORS; i++)
1622 killagreg 189
        {
190
                SendMotorData();
1683 killagreg 191
                while(!(BLFlags & BLFLAG_TX_COMPLETE)  && !CheckDelay(timer)); //wait for complete transfer
1622 killagreg 192
                if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
193
                {
1648 killagreg 194
                        while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
195
                        {
196
                                SendMotorData();
1683 killagreg 197
                                while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
1648 killagreg 198
                        }
1232 hbuss 199
                }
1648 killagreg 200
                if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
201
                {
202
                        printf("%d",i+1);
1702 holgerb 203
                        FoundMotors++;
1652 holgerb 204
//                      if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) ");
1648 killagreg 205
                }
1622 killagreg 206
        }
1211 hbuss 207
        for(i=0; i < MAX_MOTORS; i++)
1051 killagreg 208
        {
1622 killagreg 209
                if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
210
                {
211
                        printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
1701 holgerb 212
                        ServoActive = 2; // just in case the FC would be used as camera-stabilizer
1111 hbuss 213
                }
1622 killagreg 214
                Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
1 ingob 215
        }
2030 holgerb 216
   PrintLine();// ("\n\r===================================");
1648 killagreg 217
 
2030 holgerb 218
 
1765 killagreg 219
    if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER;
1702 holgerb 220
 
1529 killagreg 221
        //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
1622 killagreg 222
        {
223
                printf("\n\rCalibrating pressure sensor..");
224
                timer = SetDelay(1000);
225
                SucheLuftruckOffset();
226
                while (!CheckDelay(timer));
227
                printf("OK\n\r");
1 ingob 228
        }
1051 killagreg 229
 
1622 killagreg 230
        SetNeutral(0);
1 ingob 231
 
232
        ROT_OFF;
1051 killagreg 233
 
1 ingob 234
    beeptime = 2000;
1051 killagreg 235
    ExternControl.Digital[0] = 0x55;
1 ingob 236
 
1051 killagreg 237
 
1652 holgerb 238
        FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
239
        FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
1622 killagreg 240
 
1702 holgerb 241
        if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF))
1622 killagreg 242
        {
243
                FlugMinuten = 0;
244
                FlugMinutenGesamt = 0;
245
        }
2034 holgerb 246
    printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
1622 killagreg 247
 
1 ingob 248
    LcdClear();
173 holgerb 249
    I2CTimeout = 5000;
819 hbuss 250
    WinkelOut.Orientation = 1;
1268 hbuss 251
    LipoDetection(1);
1626 killagreg 252
        LIBFC_ReceiverInit(EE_Parameter.Receiver);
2030 holgerb 253
    PrintLine();// ("\n\r===================================");
1622 killagreg 254
        //SpektrumBinding();
1350 hbuss 255
    timer = SetDelay(2000);
1424 ingob 256
        timerPolling = SetDelay(250);
1648 killagreg 257
 
1636 ingob 258
        Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt);   // Note: this won't waste flash memory, if #DEBUG is not active
1702 holgerb 259
    DebugOut.Status[0] = 0x01 | 0x02;
1834 holgerb 260
        JetiBeep = 0;
1913 holgerb 261
    if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)   DisableRcOffBeeping = 1;
1 ingob 262
        while (1)
263
        {
1945 holgerb 264
        if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
1907 ingob 265
 
1930 holgerb 266
//GRN_ON;
1419 ingob 267
        if(UpdateMotor && AdReady)      // ReglerIntervall
1051 killagreg 268
            {
1930 holgerb 269
//GRN_OFF;
1907 ingob 270
                        UpdateMotor=0;    
819 hbuss 271
            if(WinkelOut.CalcState) CalMk3Mag();
1644 holgerb 272
            else  MotorRegler();
273
                        SendMotorData();
1 ingob 274
            ROT_OFF;
1937 holgerb 275
            if(SenderOkay)  { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ }
1603 killagreg 276
                        else
277
                        {
278
                                TIMSK1 |= _BV(ICIE1); // enable PPM-Input
279
                                PPM_in[0] = 0; // set RSSI to zero on data timeout
1765 killagreg 280
                                VersionInfo.HardwareError[1] |= FC_ERROR1_PPM;
1603 killagreg 281
                        }
1420 killagreg 282
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1481 holgerb 283
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
284
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
1309 hbuss 285
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1210 hbuss 286
            if(!--I2CTimeout || MissingMotor)
173 holgerb 287
                {
1254 killagreg 288
                  if(!I2CTimeout)
1210 hbuss 289
                                   {
1662 killagreg 290
                                    I2C_Reset();
1210 hbuss 291
                    I2CTimeout = 5;
1322 hbuss 292
                                        DebugOut.Analog[28]++; // I2C-Error
1765 killagreg 293
                                        VersionInfo.HardwareError[1] |= FC_ERROR1_I2C;
1702 holgerb 294
                                        DebugOut.Status[1] |= 0x02; // BL-Error-Status
1322 hbuss 295
                                   }
1051 killagreg 296
                  if((BeepMuster == 0xffff) && MotorenEin)
297
                   {
1936 holgerb 298
                    beeptime = 25000;
173 holgerb 299
                    BeepMuster = 0x0080;
1051 killagreg 300
                   }
1 ingob 301
                }
1051 killagreg 302
            else
1 ingob 303
                {
1051 killagreg 304
                 ROT_OFF;
1944 holgerb 305
                }
1916 holgerb 306
                  LIBFC_Polling();
307
 
1639 holgerb 308
          if(!UpdateMotor)
2012 holgerb 309
                  {
310
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
311
                   if(NewSBusData) ProcessSBus();  
312
                   else
313
#endif
1639 holgerb 314
                   {
1760 holgerb 315
                        if(CalculateServoSignals) CalculateServo();
316
                        DatenUebertragung();
317
                        BearbeiteRxDaten();
1254 killagreg 318
                        if(CheckDelay(timer))
319
                        {
1512 holgerb 320
                                static unsigned char second;
1420 killagreg 321
                                timer += 20; // 20 ms interval
2191 holgerb 322
                                CalcNickServoValue();
1925 holgerb 323
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1917 holgerb 324
                                if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
1925 holgerb 325
#endif
1702 holgerb 326
                                if(MissingMotor)
327
                                 {
1765 killagreg 328
                                  VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING;
1702 holgerb 329
                                  DebugOut.Status[1] |= 0x02; // BL-Error-Status
1765 killagreg 330
                                 }
331
                                 else
1702 holgerb 332
                                 {
1936 holgerb 333
                                   if(!beeptime)
334
                                    {
335
                                     if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
336
                                        }
1765 killagreg 337
                                 }
2029 holgerb 338
                                if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
1420 killagreg 339
                                if(PcZugriff) PcZugriff--;
340
                                else
341
                                {
342
                                        ExternControl.Config = 0;
343
                                        ExternStickNick = 0;
344
                                        ExternStickRoll = 0;
345
                                        ExternStickGier = 0;
1913 holgerb 346
                                        if(!SenderOkay)
1420 killagreg 347
                                        {
1914 holgerb 348
                                          if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)  
1913 holgerb 349
                                          {
350
                                                  beeptime = 15000;
351
                                                  BeepMuster = 0x0c00;
1914 holgerb 352
                                                  if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
1913 holgerb 353
                                          }
1914 holgerb 354
                                        }
1420 killagreg 355
                                }
1682 holgerb 356
                                if(NaviDataOkay > 200)
1420 killagreg 357
                                {
358
                                        NaviDataOkay--;
1765 killagreg 359
                                        VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
1420 killagreg 360
                                }
361
                                else
362
                                {
1702 holgerb 363
                                        if(NC_Version.Compatible)
364
                                         {
1930 holgerb 365
                                           VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX;
366
                                           NC_ErrorCode = 9; // "ERR: no NC communication"
1702 holgerb 367
                       if(BeepMuster == 0xffff && MotorenEin)
368
                                                {
369
                                                        beeptime = 15000;
370
                                                        BeepMuster = 0xA800;
371
                                                }
1765 killagreg 372
                                         }
1420 killagreg 373
                                        GPS_Nick = 0;
374
                                        GPS_Roll = 0;
1945 holgerb 375
                                        GPS_Aid_StickMultiplikator = 0;
1916 holgerb 376
                                        GPSInfo.Flags = 0;
1936 holgerb 377
                                        FromNaviCtrl.AccErrorN = 0;
378
                                        FromNaviCtrl.AccErrorR = 0;
1691 holgerb 379
                    FromNaviCtrl.CompassValue = -1;
1703 holgerb 380
                    NaviDataOkay = 0;
1420 killagreg 381
                                }
1309 hbuss 382
                           if(UBat < BattLowVoltageWarning)
1254 killagreg 383
                                {
1765 killagreg 384
                                        FC_StatusFlags |= FC_STATUS_LOWBAT;
1254 killagreg 385
                                        if(BeepMuster == 0xffff)
386
                                        {
387
                                                beeptime = 6000;
388
                                                BeepMuster = 0x0300;
389
                                        }
390
                                }
1765 killagreg 391
                                else if(!beeptime) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
1420 killagreg 392
 
1254 killagreg 393
                                SPI_StartTransmitPacket();
394
                                SendSPI = 4;
2009 holgerb 395
                                // +++++++++++++++++++++++++++++++++
396
                                // Sekundentakt
1512 holgerb 397
                if(++second == 49)
398
                                 {
399
                                   second = 0;
2009 holgerb 400
                                   if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
401
                                   else
402
                                    {
403
                                         timer2 = 1450; // 0,5 Minuten aufrunden
404
                                         if(StartLuftdruck < Luftdruck) StartLuftdruck++;
405
                                         else
406
                                         if(StartLuftdruck > Luftdruck) StartLuftdruck--;
407
                                        }
1512 holgerb 408
                                 }
2009 holgerb 409
                                // +++++++++++++++++++++++++++++++++
1320 hbuss 410
                                if(++timer2 == 2930)  // eine Minute
1298 hbuss 411
                                 {
412
                                   timer2 = 0;
413
                   FlugMinuten++;
414
                       FlugMinutenGesamt++;
1652 holgerb 415
                   SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
416
                   SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
417
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
418
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
1344 hbuss 419
                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
1298 hbuss 420
                             }
1254 killagreg 421
                        }
921 hbuss 422
           LED_Update();
1486 killagreg 423
           Capacity_Update();
1936 holgerb 424
           } //else DebugOut.Analog[26]++;
604 hbuss 425
          }
2012 holgerb 426
         }
427
         if(!SendSPI) { SPI_TransmitByte(); }
1 ingob 428
    }
429
 return (1);
430
}
1944 holgerb 431
//DebugOut.Analog[16]
1 ingob 432