| 128,7 → 128,8 |
|---|
| |
| int16_t main (void) |
| { |
| unsigned int timer; |
| uint16_t timer; |
| uint8_t i; |
| |
| // disable interrupts global |
| cli(); |
| 173,6 → 174,7 |
|---|
| // enable interrupts global |
| sei(); |
| |
| printf("\n\r==================================="); |
| printf("\n\rFlightControl"); |
| printf("\n\rHardware: %d.%d", BoardRelease/10, BoardRelease%10); |
| if(CPUType == ATMEGA644P) |
| 180,12 → 182,34 |
|---|
| else |
| printf("\r\n CPU: Atmega644"); |
| printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
| printf("\n\r=============================="); |
| printf("\n\r==================================="); |
| GRN_ON; |
| |
| // Parameter Set handling |
| ParamSet_Init(); |
| |
| // Check connected BL-Ctrls |
| printf("\n\rFound BL-Ctrl: "); |
| motor_read = 0; |
| UpdateMotor = 0; |
| SendMotorData(); |
| while(!UpdateMotor); |
| motor_read = 0; // read the first I2C-Data |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| UpdateMotor = 0; |
| SendMotorData(); |
| while(!UpdateMotor); |
| if(Motor[i].Present) printf("%d ",i+1); |
| } |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if(!Motor[i].Present && Mixer.Motor[i][MIX_GAS] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
| Motor[i].Error = 0; |
| } |
| printf("\n\r==================================="); |
| |
| |
| if(GetParamWord(PID_ACC_NICK) > 1023) |
| { |
| printf("\n\rACC not calibrated!"); |
| 238,7 → 262,7 |
|---|
| |
| printf("\n\rControl: "); |
| if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| else printf("Neutral (ACC-Mode)"); |
| |
| printf("\n\n\r"); |
| |
| 269,10 → 293,27 |
|---|
| ExternStickYaw = 0; |
| } |
| if(RC_Quality) RC_Quality--; |
| if(!I2CTimeout) |
| |
| #ifdef USE_NAVICTRL |
| if(NCDataOkay) |
| { |
| I2CTimeout = 5; |
| I2C_Reset(); |
| if(--NCDataOkay == 0) // no data from NC |
| { // set gps control sticks neutral |
| GPSStickNick = 0; |
| GPSStickRoll = 0; |
| NCSerialDataOkay = 0; |
| } |
| } |
| #endif |
| |
| if(!--I2CTimeout || MissingMotor) // try to reset the i2c if motor is missing ot timeout |
| { |
| RED_ON; |
| if(!I2CTimeout) |
| { |
| I2C_Reset(); |
| I2CTimeout = 5; |
| } |
| if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) ) |
| { |
| BeepTime = 10000; // 1 second |
| 281,7 → 322,6 |
|---|
| } |
| else |
| { |
| I2CTimeout--; |
| RED_OFF; |
| } |
| |
| 310,7 → 350,6 |
|---|
| } |
| |
| LED_Update(); |
| //J4LOW; |
| } |
| |
| #ifdef USE_NAVICTRL |