/trunk/eeprom.c |
---|
1,5 → 1,5 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Konstanten |
// + Konstanten |
// + 0-250 -> normale Werte |
// + 251 -> Poti1 |
// + 252 -> Poti2 |
19,7 → 19,7 |
void DefaultKonstanten1(void) |
{ |
EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;//CFG_HOEHEN_SCHALTER |
EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;//CFG_HOEHEN_SCHALTER |
EE_Parameter.Hoehe_MinGas = 30; |
EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
68,34 → 68,36 |
EE_Parameter.CouplingYawCorrection = 1; |
EE_Parameter.WinkelUmschlagNick = 85; |
EE_Parameter.WinkelUmschlagRoll = 85; |
EE_Parameter.GyroAccAbgleich = 16; // 1/k |
EE_Parameter.Driftkomp = 32; |
EE_Parameter.GyroAccAbgleich = 16; // 1/k |
EE_Parameter.Driftkomp = 32; |
EE_Parameter.DynamicStability = 100; |
EE_Parameter.J16Bitmask = 95; |
EE_Parameter.J17Bitmask = 243; |
EE_Parameter.J16Timing = 15; |
EE_Parameter.J17Timing = 15; |
EE_Parameter.NaviGpsModeControl = 253; |
EE_Parameter.NaviGpsGain = 100; |
EE_Parameter.NaviGpsP = 90; |
EE_Parameter.NaviGpsI = 90; |
EE_Parameter.NaviGpsD = 90; |
EE_Parameter.NaviGpsPLimit = 75; |
EE_Parameter.NaviGpsILimit = 75; |
EE_Parameter.NaviGpsDLimit = 75; |
EE_Parameter.NaviGpsACC = 0; |
EE_Parameter.NaviGpsMinSat = 6; |
EE_Parameter.J16Bitmask = 95; |
EE_Parameter.J17Bitmask = 243; |
EE_Parameter.WARN_J16_Bitmask = 0xAA; |
EE_Parameter.WARN_J17_Bitmask = 0xAA; |
EE_Parameter.J16Timing = 15; |
EE_Parameter.J17Timing = 15; |
EE_Parameter.NaviGpsModeControl = 253; |
EE_Parameter.NaviGpsGain = 100; |
EE_Parameter.NaviGpsP = 90; |
EE_Parameter.NaviGpsI = 90; |
EE_Parameter.NaviGpsD = 90; |
EE_Parameter.NaviGpsPLimit = 75; |
EE_Parameter.NaviGpsILimit = 75; |
EE_Parameter.NaviGpsDLimit = 75; |
EE_Parameter.NaviGpsACC = 0; |
EE_Parameter.NaviGpsMinSat = 6; |
EE_Parameter.NaviStickThreshold = 8; |
EE_Parameter.NaviWindCorrection = 90; |
EE_Parameter.NaviSpeedCompensation = 30; |
EE_Parameter.NaviOperatingRadius = 100; |
EE_Parameter.NaviWindCorrection = 90; |
EE_Parameter.NaviSpeedCompensation = 30; |
EE_Parameter.NaviOperatingRadius = 100; |
EE_Parameter.NaviAngleLimitation = 100; |
EE_Parameter.NaviPH_LoginTime = 4; |
memcpy(EE_Parameter.Name, "Sport\0", 12); |
memcpy(EE_Parameter.Name, "Sport\0", 12); |
} |
void DefaultKonstanten2(void) |
{ |
EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
EE_Parameter.Hoehe_MinGas = 30; |
EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
138,41 → 140,43 |
EE_Parameter.LoopGasLimit = 50; |
EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
EE_Parameter.LoopHysterese = 50; |
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
EE_Parameter.AchsKopplung1 = 90; |
EE_Parameter.AchsKopplung2 = 80; |
EE_Parameter.CouplingYawCorrection = 60; |
EE_Parameter.WinkelUmschlagNick = 85; |
EE_Parameter.WinkelUmschlagRoll = 85; |
EE_Parameter.GyroAccAbgleich = 32; // 1/k |
EE_Parameter.Driftkomp = 32; |
EE_Parameter.GyroAccAbgleich = 32; // 1/k |
EE_Parameter.Driftkomp = 32; |
EE_Parameter.DynamicStability = 75; |
EE_Parameter.J16Bitmask = 95; |
EE_Parameter.J17Bitmask = 243; |
EE_Parameter.J16Timing = 20; |
EE_Parameter.J17Timing = 20; |
EE_Parameter.NaviGpsModeControl = 253; |
EE_Parameter.NaviGpsGain = 100; |
EE_Parameter.NaviGpsP = 90; |
EE_Parameter.NaviGpsI = 90; |
EE_Parameter.NaviGpsD = 90; |
EE_Parameter.NaviGpsPLimit = 75; |
EE_Parameter.NaviGpsILimit = 75; |
EE_Parameter.NaviGpsDLimit = 75; |
EE_Parameter.NaviGpsACC = 0; |
EE_Parameter.NaviGpsMinSat = 6; |
EE_Parameter.J16Bitmask = 95; |
EE_Parameter.J17Bitmask = 243; |
EE_Parameter.WARN_J16_Bitmask = 0xAA; |
EE_Parameter.WARN_J17_Bitmask = 0xAA; |
EE_Parameter.J16Timing = 20; |
EE_Parameter.J17Timing = 20; |
EE_Parameter.NaviGpsModeControl = 253; |
EE_Parameter.NaviGpsGain = 100; |
EE_Parameter.NaviGpsP = 90; |
EE_Parameter.NaviGpsI = 90; |
EE_Parameter.NaviGpsD = 90; |
EE_Parameter.NaviGpsPLimit = 75; |
EE_Parameter.NaviGpsILimit = 75; |
EE_Parameter.NaviGpsDLimit = 75; |
EE_Parameter.NaviGpsACC = 0; |
EE_Parameter.NaviGpsMinSat = 6; |
EE_Parameter.NaviStickThreshold = 8; |
EE_Parameter.NaviWindCorrection = 90; |
EE_Parameter.NaviSpeedCompensation = 30; |
EE_Parameter.NaviOperatingRadius = 100; |
EE_Parameter.NaviWindCorrection = 90; |
EE_Parameter.NaviSpeedCompensation = 30; |
EE_Parameter.NaviOperatingRadius = 100; |
EE_Parameter.NaviAngleLimitation = 100; |
EE_Parameter.NaviPH_LoginTime = 4; |
memcpy(EE_Parameter.Name, "Normal\0", 12); |
memcpy(EE_Parameter.Name, "Normal\0", 12); |
} |
void DefaultKonstanten3(void) |
{ |
EE_Parameter.GlobalConfig = CFG_DREHRATEN_BEGRENZER | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
EE_Parameter.GlobalConfig = CFG_DREHRATEN_BEGRENZER | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
EE_Parameter.Hoehe_MinGas = 30; |
EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
215,34 → 219,36 |
EE_Parameter.LoopGasLimit = 50; |
EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
EE_Parameter.LoopHysterese = 50; |
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
EE_Parameter.AchsKopplung1 = 90; |
EE_Parameter.AchsKopplung2 = 80; |
EE_Parameter.CouplingYawCorrection = 70; |
EE_Parameter.WinkelUmschlagNick = 85; |
EE_Parameter.WinkelUmschlagRoll = 85; |
EE_Parameter.GyroAccAbgleich = 32; // 1/k |
EE_Parameter.Driftkomp = 32; |
EE_Parameter.GyroAccAbgleich = 32; // 1/k |
EE_Parameter.Driftkomp = 32; |
EE_Parameter.DynamicStability = 50; |
EE_Parameter.J16Bitmask = 95; |
EE_Parameter.J17Bitmask = 243; |
EE_Parameter.J16Timing = 30; |
EE_Parameter.J17Timing = 30; |
EE_Parameter.NaviGpsModeControl = 253; |
EE_Parameter.NaviGpsGain = 100; |
EE_Parameter.NaviGpsP = 90; |
EE_Parameter.NaviGpsI = 90; |
EE_Parameter.NaviGpsD = 90; |
EE_Parameter.NaviGpsPLimit = 75; |
EE_Parameter.NaviGpsILimit = 75; |
EE_Parameter.NaviGpsDLimit = 75; |
EE_Parameter.NaviGpsACC = 0; |
EE_Parameter.NaviGpsMinSat = 6; |
EE_Parameter.J16Bitmask = 95; |
EE_Parameter.J17Bitmask = 243; |
EE_Parameter.WARN_J16_Bitmask = 0xAA; |
EE_Parameter.WARN_J17_Bitmask = 0xAA; |
EE_Parameter.J16Timing = 30; |
EE_Parameter.J17Timing = 30; |
EE_Parameter.NaviGpsModeControl = 253; |
EE_Parameter.NaviGpsGain = 100; |
EE_Parameter.NaviGpsP = 90; |
EE_Parameter.NaviGpsI = 90; |
EE_Parameter.NaviGpsD = 90; |
EE_Parameter.NaviGpsPLimit = 75; |
EE_Parameter.NaviGpsILimit = 75; |
EE_Parameter.NaviGpsDLimit = 75; |
EE_Parameter.NaviGpsACC = 0; |
EE_Parameter.NaviGpsMinSat = 6; |
EE_Parameter.NaviStickThreshold = 8; |
EE_Parameter.NaviWindCorrection = 90; |
EE_Parameter.NaviSpeedCompensation = 30; |
EE_Parameter.NaviOperatingRadius = 100; |
EE_Parameter.NaviWindCorrection = 90; |
EE_Parameter.NaviSpeedCompensation = 30; |
EE_Parameter.NaviOperatingRadius = 100; |
EE_Parameter.NaviAngleLimitation = 100; |
EE_Parameter.NaviPH_LoginTime = 4; |
memcpy(EE_Parameter.Name, "Beginner\0", 12); |
memcpy(EE_Parameter.Name, "Beginner\0", 12); |
} |
/trunk/fc.c |
---|
79,7 → 79,6 |
int KompassRichtung = 0; |
unsigned int KompassSignalSchlecht = 500; |
unsigned char MAX_GAS,MIN_GAS; |
unsigned char Notlandung = 0; |
unsigned char HoehenReglerAktiv = 0; |
unsigned char TrichterFlug = 0; |
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
573,13 → 572,13 |
else |
{ |
MotorenEin = 0; |
Notlandung = 0; |
MikroKopterFlags &= ~FLAG_NOTLANDUNG; |
} |
ROT_ON; |
if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
{ |
GasMischanteil = EE_Parameter.NotGas; |
Notlandung = 1; |
MikroKopterFlags |= FLAG_NOTLANDUNG; |
PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
594,7 → 593,7 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay > 140) |
{ |
Notlandung = 0; |
MikroKopterFlags &= ~FLAG_NOTLANDUNG; |
RcLostTimer = EE_Parameter.NotGasZeit * 50; |
if(GasMischanteil > 40 && MotorenEin) |
{ |
728,7 → 727,7 |
// neue Werte von der Funke |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!NewPpmData-- || Notlandung) |
if(!NewPpmData-- || (MikroKopterFlags & FLAG_NOTLANDUNG)) |
{ |
static int stick_nick,stick_roll; |
ParameterZuordnung(); |
779,7 → 778,7 |
if(MaxStickRoll > 100) MaxStickRoll = 100; |
} |
else MaxStickRoll--; |
if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
if(MikroKopterFlags & FLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Looping? |
831,7 → 830,7 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Bei Empfangsausfall im Flug |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(Notlandung) |
if(MikroKopterFlags & FLAG_NOTLANDUNG) |
{ |
StickGier = 0; |
StickNick = 0; |
1311,7 → 1310,7 |
HoehenReglerAktiv = 1; |
} |
if(Notlandung) SollHoehe = 0; |
if(MikroKopterFlags & FLAG_NOTLANDUNG) SollHoehe = 0; |
h = HoehenWert; |
if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
{ |
/trunk/fc.h |
---|
13,6 → 13,10 |
#define FLAG_FLY 2 |
#define FLAG_CALIBRATE 4 |
#define FLAG_START 8 |
#define FLAG_NOTLANDUNG 16 |
#define FLAG_LOWBAT 32 |
#define MAX_MOTORS 12 |
#define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;} |
132,6 → 136,9 |
unsigned char J16Timing; // for the J16 Output |
unsigned char J17Bitmask; // for the J17 Output |
unsigned char J17Timing; // for the J17 Output |
// seit version V0.75c |
unsigned char WARN_J16_Bitmask; // for the J16 Output |
unsigned char WARN_J17_Bitmask; // for the J17 Output |
//---NaviCtrl--------------------------------------------- |
unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
unsigned char NaviGpsGain; |
/trunk/led.c |
---|
9,12 → 9,12 |
// initializes the LED control outputs J16, J17 |
void LED_Init(void) |
{ |
// set PC2 & PC3 as output (control of J16 & J17) |
DDRC |= (1<<DDC2)|(1<<DDC3); |
J16_OFF; |
J17_OFF; |
J16Blinkcount = 0; J16Mask = 128; |
J17Blinkcount = 0; J17Mask = 128; |
// set PC2 & PC3 as output (control of J16 & J17) |
DDRC |= (1<<DDC2)|(1<<DDC3); |
J16_OFF; |
J17_OFF; |
J16Blinkcount = 0; J16Mask = 128; |
J17Blinkcount = 0; J17Mask = 128; |
} |
21,29 → 21,44 |
// called in UpdateMotors() every 2ms |
void LED_Update(void) |
{ |
static char delay = 0; |
if(!delay--) // 10ms Intervall |
{ |
delay = 4; |
if((EE_Parameter.J16Timing > 250) && (Parameter_J16Timing > 230)) {if(EE_Parameter.J16Bitmask & 128) J16_ON; else J16_OFF;} |
else |
if((EE_Parameter.J16Timing > 250) && (Parameter_J16Timing < 10)) {if(EE_Parameter.J16Bitmask & 128) J16_OFF; else J16_ON;} |
static char delay = 0; |
static unsigned char J16Bitmask = 0; |
static unsigned char J17Bitmask = 0; |
if(!delay--) // 10ms Intervall |
{ |
delay = 4; |
if(MikroKopterFlags & FLAG_LOWBAT) |
{ |
J16Bitmask = EE_Parameter.WARN_J16_Bitmask; |
J17Bitmask = EE_Parameter.WARN_J17_Bitmask; |
} |
else |
{ |
J16Bitmask = EE_Parameter.J16Bitmask; |
J17Bitmask = EE_Parameter.J17Bitmask; |
} |
if((EE_Parameter.J16Timing > 250) && (Parameter_J16Timing > 230)) {if(J16Bitmask & 128) J16_ON; else J16_OFF;} |
else |
if(!J16Blinkcount--) |
if((EE_Parameter.J16Timing > 250) && (Parameter_J16Timing < 10)) {if(J16Bitmask & 128) J16_OFF; else J16_ON;} |
else |
if(!J16Blinkcount--) |
{ |
J16Blinkcount = Parameter_J16Timing-1; |
if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2; |
if(J16Mask & EE_Parameter.J16Bitmask) J16_ON; else J16_OFF; |
} |
if((EE_Parameter.J17Timing > 250) && (Parameter_J17Timing > 230)) {if(EE_Parameter.J17Bitmask & 128) J17_ON; else J17_OFF;} |
else |
if((EE_Parameter.J17Timing > 250) && (Parameter_J17Timing < 10)) {if(EE_Parameter.J17Bitmask & 128) J17_OFF; else J17_ON;} |
if(J16Mask & J16Bitmask) J16_ON; else J16_OFF; |
} |
if((EE_Parameter.J17Timing > 250) && (Parameter_J17Timing > 230)) {if(J17Bitmask & 128) J17_ON; else J17_OFF;} |
else |
if(!J17Blinkcount--) |
if((EE_Parameter.J17Timing > 250) && (Parameter_J17Timing < 10)) {if(J17Bitmask & 128) J17_OFF; else J17_ON;} |
else |
if(!J17Blinkcount--) |
{ |
J17Blinkcount = Parameter_J17Timing-1; |
if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
if(J17Mask & EE_Parameter.J17Bitmask) J17_ON; else J17_OFF; |
} |
if(J17Mask & J17Bitmask) J17_ON; else J17_OFF; |
} |
} |
} |
/trunk/main.c |
---|
167,7 → 167,7 |
printf("\n\r==================================="); |
printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P |
{ |
{ |
Uart1Init(); |
} |
GRN_ON; |
176,14 → 176,14 |
if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte |
(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool |
{ |
unsigned char i; |
unsigned char i; |
RequiredMotors = 0; |
eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;} |
} |
} |
else // default |
{ |
unsigned char i; |
unsigned char i; |
printf("\n\rGenerating default Mixer Table"); |
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;}; |
// default = Quadro |
192,7 → 192,7 |
Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64; |
Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64; |
Mixer.Revision = MIXER_REVISION; |
memcpy(Mixer.Name, "Quadro\0", 11); |
memcpy(Mixer.Name, "Quadro\0", 11); |
eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
} |
printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
231,8 → 231,8 |
if(i==2) DefaultKonstanten2(); // Kamera |
if(i==3) DefaultKonstanten3(); // Beginner |
if(i>3) DefaultKonstanten2(); // Kamera |
if(PlatinenVersion >= 20) |
{ |
if(PlatinenVersion >= 20) |
{ |
EE_Parameter.Gyro_D = 5; |
EE_Parameter.Driftkomp = 0; |
EE_Parameter.GyroAccFaktor = 27; |
297,13 → 297,13 |
{ |
timer = SetDelay(500); |
while (!CheckDelay(timer)); |
if(UBat < 130) |
if(UBat < 130) |
{ |
BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung; |
Piep(3,200); |
printf(" 3 Cells "); |
} |
else |
else |
{ |
BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung; |
Piep(4,200); |
331,13 → 331,13 |
ExternStickGier = 0; |
} |
if(SenderOkay) SenderOkay--; |
else |
else |
{ |
TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
} |
} |
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
if(NaviDataOkay) |
if(NaviDataOkay) |
{ |
if(--NaviDataOkay == 0) |
{ |
347,7 → 347,7 |
} |
if(!--I2CTimeout || MissingMotor) |
{ |
if(!I2CTimeout) |
if(!I2CTimeout) |
{ |
i2c_reset(); |
I2CTimeout = 5; |
367,22 → 367,24 |
DatenUebertragung(); |
BearbeiteRxDaten(); |
} |
else BearbeiteRxDaten(); |
if(CheckDelay(timer)) |
{ |
if(UBat < BattLowVoltageWarning) |
{ |
if(BeepMuster == 0xffff) |
{ |
beeptime = 6000; |
BeepMuster = 0x0300; |
} |
} |
SPI_StartTransmitPacket(); |
else BearbeiteRxDaten(); |
if(CheckDelay(timer)) |
{ |
if(UBat < BattLowVoltageWarning) |
{ |
MikroKopterFlags |= FLAG_LOWBAT; |
if(BeepMuster == 0xffff) |
{ |
beeptime = 6000; |
BeepMuster = 0x0300; |
} |
} |
else MikroKopterFlags &= ~FLAG_LOWBAT; |
SPI_StartTransmitPacket(); |
SendSPI = 4; |
timer = SetDelay(20); |
} |
SendSPI = 4; |
timer = SetDelay(20); |
} |
LED_Update(); |
} |
if(!SendSPI) { SPI_TransmitByte(); } |
/trunk/main.h |
---|
29,7 → 29,7 |
//#error ################## F_CPU nicht definiert oder ungültig ############# |
//#endif |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define EE_DATENREVISION 76 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
#define EE_DATENREVISION 77 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
#define MIXER_REVISION 1 // wird angepasst, wenn sich die Mixer-Daten geändert haben |
#define EEPROM_ADR_VALID 1 |
/trunk/version.txt |
---|
273,4 → 273,5 |
- RSSI wird an NC gesendet, derzeit wird der Wert nicht gesetzt |
- Bugfix Messbereichsumschaltung des Luftdrucksensors springt |
- Auflösung des Luftdrucks nun bis auf 1 cm (5mal feiner) zur genaueren Berechnung des D-Anteils |
- Unterstützung von Warnings-Bitmasks für die J16, J17-Outputs bei Unterspannung |