WebSVN - FlightCtrl - Diff - Rev 1591 and 1598 - /branches/V0.82b-Arthur-P/main.c


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
 
 
unsigned char PlatinenVersion = 10;
unsigned char SendVersionToNavi = 1;
unsigned char BattLowVoltageWarning = 94;
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
unsigned int FlugSekunden = 0;
pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
 
// -- Parametersatz aus EEPROM lesen ---
// number [1..5]
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
{
   if((number > 5)||(number < 1)) number = 3;
   eeprom_read_block(buffer, (void*)(EEPROM_ADR_PARAM_BEGIN + length * (number - 1)), length);
   LED_Init();
}
 
// -- Parametersatz ins EEPROM schreiben ---
// number [1..5]
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
{
   if(number > 5) number = 5;
   if(number < 1) return;
   eeprom_write_block(buffer, (void*)(EEPROM_ADR_PARAM_BEGIN + length * (number - 1)), length);
   eeprom_write_byte((unsigned char*)(EEPROM_ADR_PARAM_LENGTH), length); // Länge der Datensätze merken
   eeprom_write_block(buffer, (void*)(EEPROM_ADR_CHANNELS), 12); // 12 Kanäle merken
   SetActiveParamSetNumber(number);
   LED_Init();
}
 
unsigned char GetActiveParamSetNumber(void)
{
        unsigned char set;
        set = eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET));
        if((set > 5) || (set < 1))
        {
                set = 3;
                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
        }
        return(set);
}
 
void SetActiveParamSetNumber(unsigned char number)
{
        if(number > 5) number = 5;
        if(number < 1) return;
        eeprom_write_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET), number);                             // diesen Parametersatz als aktuell merken
}
 
 
void CalMk3Mag(void)
{
 static unsigned char stick = 1;
 
 if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
 if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
  {
   stick = 1;
   WinkelOut.CalcState++;
   if(WinkelOut.CalcState > 4)
    {
//     WinkelOut.CalcState = 0; // in Uart.c
     beeptime = 1000;
    }
   else Piep(WinkelOut.CalcState,150);
  }
  DebugOut.Analog[19] = WinkelOut.CalcState;
}
 
 
 
void LipoDetection(unsigned char print)
{
   unsigned int timer;
   if(print) printf("\n\rBatt:");
   if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
    {
         timer = SetDelay(500);
         if(print) while (!CheckDelay(timer));
         if(UBat < 130)
          {
           BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
           if(print)
            {
                 Piep(3,200);
             printf(" 3 Cells  ");
                }
          }
         else
          {
           BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
           if(print)
            {
                 Piep(4,200);
             printf(" 4 Cells  ");
                }
          }
    }
    else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
//      if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
   if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
}
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer,i,timer2 = 0, timerPolling;
        unsigned char RequiredMotors = 0;
 
    DDRB  = 0x00;
    PORTB = 0x00;
    for(timer = 0; timer < 1000; timer++); // verzögern
    if(PINB & 0x01)
     {
      if(PINB & 0x02) PlatinenVersion = 13;
       else           PlatinenVersion = 11;
     }
    else
     {
      if(PINB & 0x02) PlatinenVersion = 20;
       else           PlatinenVersion = 10;
     }
 
    DDRC  = 0x81; // SCL
    DDRC  |=0x40; // HEF4017 Reset
    PORTC = 0xff; // Pullup SDA
    DDRB  = 0x1B; // LEDs und Druckoffset
    PORTB = 0x01; // LED_Rot
    DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
        PORTD = 0x47; // LED
    HEF4017R_ON;
    MCUSR &=~(1<<WDRF);
    WDTCSR |= (1<<WDCE)|(1<<WDE);
    WDTCSR = 0;
 
    beeptime = 2000;
        StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
    ROT_OFF;
 
    Timer_Init();
        TIMER2_Init();
        UART_Init();
    rc_sum_init();
        ADC_Init();
        i2c_init();
        SPI_MasterInit();
        Capacity_Init();
        LIBFC_Init();
        GRN_ON;
    sei();
 
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
 
 
    if((eeprom_read_byte((unsigned char*)(EEPROM_ADR_MIXER_TABLE)) == MIXER_REVISION) && // Check Revision in the first Byte
       (eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != 0xff))                   // Settings reset via Koptertool
        {
     unsigned char i;
     eeprom_read_block(&Mixer, (unsigned char*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer));
     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
        }
        else // default
        {
     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
     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
     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);
     eeprom_write_block(&Mixer, (void*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer));
    }
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
        printf("\n\rFound BL-Ctrl: ");
    timer = SetDelay(4000);
 
        for(i=0; i < MAX_MOTORS; i++)
         {
          UpdateMotor = 0;
      SendMotorData();
          while(!UpdateMotor);
      if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
        {
             while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
                }
          if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1);
     }
        for(i=0; i < MAX_MOTORS; i++)
         {
          if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
           {
            printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
                ServoActive = 1; // just in case the FC would be used as camera-stabilizer
           }
          Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
     }
        printf("\n\r===================================");
    SendMotorData();
//printf("\n size: %u",STRUCT_PARAM_LAENGE);
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check Settings
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != EE_DATENREVISION)
        {
          DefaultKonstanten1();
          printf("\n\rInit. EEPROM");
          for (unsigned char i=1;i<6;i++)
      {
       if(i==2) DefaultKonstanten2(); // Kamera
       if(i==3) DefaultKonstanten3(); // Beginner
       if(i>3)  DefaultKonstanten2(); // Kamera
           if(PlatinenVersion >= 20)
            {
                 EE_Parameter.Gyro_D = 5;
                 EE_Parameter.Driftkomp = 0;
                 EE_Parameter.GyroAccFaktor = 27;
         EE_Parameter.WinkelUmschlagNick = 78;
         EE_Parameter.WinkelUmschlagRoll = 78;
                }
    // valid Stick-Settings?
           if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+1)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+2)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+3)) < 12)
            {
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+0));
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+1));
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+2));
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+3));
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+4));
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+5));
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+6));
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+7));
 
         if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8)) < 0xFF)
                  {
                   EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8));
           EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+9));
           EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+10));
           EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+11));
                  }
                  else
                  {
           EE_Parameter.Kanalbelegung[K_POTI5] = 9;
           EE_Parameter.Kanalbelegung[K_POTI6] = 10;
           EE_Parameter.Kanalbelegung[K_POTI7] = 11;
           EE_Parameter.Kanalbelegung[K_POTI8] = 12;
                  }
         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
                } else DefaultStickMapping();
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
      }
          SetActiveParamSetNumber(3); // default-Setting
          eeprom_write_byte((unsigned char*)(EEPROM_ADR_VALID), EE_DATENREVISION);
        }
 
    FlugMinuten = (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES2)) * 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1));
    FlugMinutenGesamt = (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES)) * 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES+1));
    if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff)
         {
          FlugMinuten = 0;
          FlugMinutenGesamt = 0;
         }
    printf("\n\rFlight-time %u min  Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
 
    if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACC_NICK)) > 4)
     {
       printf("\n\rACC not calibrated !");
     }
 
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
 
 
        //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
         {
           printf("\n\rCalibrating pressure sensor..");
           timer = SetDelay(1000);
       SucheLuftruckOffset();
           while (!CheckDelay(timer));
       printf("OK\n\r");
        }
 
        SetNeutral();
 
        ROT_OFF;
 
    beeptime = 2000;
    ExternControl.Digital[0] = 0x55;
 
 
        printf("\n\rControl: ");
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
        else printf("Normal (ACC-Mode)");
 
    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    LipoDetection(1);
 
        LIBFC_ReceiverInit();
 
        printf("\n\r===================================\n\r");
//SpektrumBinding();
    timer = SetDelay(2000);
        timerPolling = SetDelay(250);
 
        while (1)
        {
 
        if(CheckDelay(timerPolling))
        {
          timerPolling = SetDelay(100);
          LIBFC_Polling();
        }
 
        if(UpdateMotor && AdReady)      // ReglerIntervall
            {
                    UpdateMotor=0;
            if(WinkelOut.CalcState) CalMk3Mag();
            else MotorRegler();
            SendMotorData();
            ROT_OFF;
            if(SenderOkay)  SenderOkay--;
                        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(!--I2CTimeout || MissingMotor)
                {
                  if(!I2CTimeout)
                                   {
                                    i2c_reset();
                    I2CTimeout = 5;
                                        DebugOut.Analog[28]++; // I2C-Error
                                        FCFlags |= FCFLAG_I2CERR;
                                   }
                  if((BeepMuster == 0xffff) && MotorenEin)
                   {
                    beeptime = 10000;
                    BeepMuster = 0x0080;
                   }
                }
            else
                {
                 ROT_OFF;
                                 if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
                }
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
              {
               DatenUebertragung();
               BearbeiteRxDaten();
              }
                        else BearbeiteRxDaten();
                        if(CheckDelay(timer))
                        {
                                static unsigned char second;
                                timer += 20; // 20 ms interval
                                if(PcZugriff) PcZugriff--;
                                else
                                {
                                        ExternControl.Config = 0;
                                        ExternStickNick = 0;
                                        ExternStickRoll = 0;
                                        ExternStickGier = 0;
                                        if(BeepMuster == 0xffff && SenderOkay == 0)
                                        {
                                                beeptime = 15000;
                                                BeepMuster = 0x0c00;
                                        }
                                }
                                if(NaviDataOkay)
                                {
                                        NaviDataOkay--;
                                        FCFlags &= ~FCFLAG_SPI_RX_ERR;
                                }
                                else
                                {
                                        GPS_Nick = 0;
                                        GPS_Roll = 0;
                                        if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR;
                                }
                           if(UBat < BattLowVoltageWarning)
                                {
                                        FCFlags |= FCFLAG_LOWBAT;
                                        if(BeepMuster == 0xffff)
                                        {
                                                beeptime = 6000;
                                                BeepMuster = 0x0300;
                                        }
                                }
                                else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
 
                                SPI_StartTransmitPacket();
                                SendSPI = 4;
                                if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
                                else
                if(++second == 49)
                                 {
                                   second = 0;
                                   FlugSekunden++;
                                 }
 
                                if(++timer2 == 2930)  // eine Minute
                                 {
                                   timer2 = 0;
                   FlugMinuten++;
                       FlugMinutenGesamt++;
                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2),FlugMinuten / 256);
                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1),FlugMinuten % 256);
                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES),FlugMinutenGesamt / 256);
                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES+1),FlugMinutenGesamt % 256);
                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
                             }
                        }
           LED_Update();
           Capacity_Update();
          }
     if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
 
 
 

Rev 1591	Rev 1598
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) Holger Buss, Ingo Busker	2	// + Copyright (c) Holger Buss, Ingo Busker
3	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	3	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	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.	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	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	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"	17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt und genannt werden	18	// + eindeutig als Ursprung verlinkt und genannt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	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	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.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	39	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	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	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	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	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	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	49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50	// + POSSIBILITY OF SUCH DAMAGE.	50	// + POSSIBILITY OF SUCH DAMAGE.
51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52	#include "main.h"	52	#include "main.h"
53		53
54		-
55	unsigned char EEPromArray[E2END+1] EEMEM;	54
56	unsigned char PlatinenVersion = 10;	55	unsigned char PlatinenVersion = 10;
57	unsigned char SendVersionToNavi = 1;	56	unsigned char SendVersionToNavi = 1;
58	unsigned char BattLowVoltageWarning = 94;	57	unsigned char BattLowVoltageWarning = 94;
59	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;	58	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
60	unsigned int FlugSekunden = 0;	59	unsigned int FlugSekunden = 0;
61	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;	60	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
62		61
63	// -- Parametersatz aus EEPROM lesen ---	62	// -- Parametersatz aus EEPROM lesen ---
64	// number [1..5]	63	// number [1..5]
65	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	64	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
66	{	65	{
67	if((number > 5)\|\|(number < 1)) number = 3;	66	if((number > 5)\|\|(number < 1)) number = 3;
68	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	67	eeprom_read_block(buffer, (void)(EEPROM_ADR_PARAM_BEGIN + length (number - 1)), length);
69	LED_Init();	68	LED_Init();
70	}	69	}
71		70
72	// -- Parametersatz ins EEPROM schreiben ---	71	// -- Parametersatz ins EEPROM schreiben ---
73	// number [1..5]	72	// number [1..5]
74	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	73	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
75	{	74	{
76	if(number > 5) number = 5;	75	if(number > 5) number = 5;
77	if(number < 1) return;	76	if(number < 1) return;
78	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	77	eeprom_write_block(buffer, (void)(EEPROM_ADR_PARAM_BEGIN + length (number - 1)), length);
79	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken	78	eeprom_write_byte((unsigned char*)(EEPROM_ADR_PARAM_LENGTH), length); // Länge der Datensätze merken
80	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 12); // 12 Kanäle merken	79	eeprom_write_block(buffer, (void*)(EEPROM_ADR_CHANNELS), 12); // 12 Kanäle merken
81	SetActiveParamSetNumber(number);	80	SetActiveParamSetNumber(number);
82	LED_Init();	81	LED_Init();
83	}	82	}
84		83
85	unsigned char GetActiveParamSetNumber(void)	84	unsigned char GetActiveParamSetNumber(void)
86	{	85	{
87	unsigned char set;	86	unsigned char set;
88	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);	87	set = eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET));
89	if((set > 5) \|\| (set < 1))	88	if((set > 5) \|\| (set < 1))
90	{	89	{
91	set = 3;	90	set = 3;
92	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken	91	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken
93	}	92	}
94	return(set);	93	return(set);
95	}	94	}
96		95
97	void SetActiveParamSetNumber(unsigned char number)	96	void SetActiveParamSetNumber(unsigned char number)
98	{	97	{
99	if(number > 5) number = 5;	98	if(number > 5) number = 5;
100	if(number < 1) return;	99	if(number < 1) return;
101	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken	100	eeprom_write_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET), number); // diesen Parametersatz als aktuell merken
102	}	101	}
103		102
104		103
105	void CalMk3Mag(void)	104	void CalMk3Mag(void)
106	{	105	{
107	static unsigned char stick = 1;	106	static unsigned char stick = 1;
108		107
109	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	108	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
110	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	109	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
111	{	110	{
112	stick = 1;	111	stick = 1;
113	WinkelOut.CalcState++;	112	WinkelOut.CalcState++;
114	if(WinkelOut.CalcState > 4)	113	if(WinkelOut.CalcState > 4)
115	{	114	{
116	// WinkelOut.CalcState = 0; // in Uart.c	115	// WinkelOut.CalcState = 0; // in Uart.c
117	beeptime = 1000;	116	beeptime = 1000;
118	}	117	}
119	else Piep(WinkelOut.CalcState,150);	118	else Piep(WinkelOut.CalcState,150);
120	}	119	}
121	DebugOut.Analog[19] = WinkelOut.CalcState;	120	DebugOut.Analog[19] = WinkelOut.CalcState;
122	}	121	}
123		122
124		123
125		124
126	void LipoDetection(unsigned char print)	125	void LipoDetection(unsigned char print)
127	{	126	{
128	unsigned int timer;	127	unsigned int timer;
129	if(print) printf("\n\rBatt:");	128	if(print) printf("\n\rBatt:");
130	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	129	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
131	{	130	{
132	timer = SetDelay(500);	131	timer = SetDelay(500);
133	if(print) while (!CheckDelay(timer));	132	if(print) while (!CheckDelay(timer));
134	if(UBat < 130)	133	if(UBat < 130)
135	{	134	{
136	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;	135	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
137	if(print)	136	if(print)
138	{	137	{
139	Piep(3,200);	138	Piep(3,200);
140	printf(" 3 Cells ");	139	printf(" 3 Cells ");
141	}	140	}
142	}	141	}
143	else	142	else
144	{	143	{
145	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;	144	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
146	if(print)	145	if(print)
147	{	146	{
148	Piep(4,200);	147	Piep(4,200);
149	printf(" 4 Cells ");	148	printf(" 4 Cells ");
150	}	149	}
151	}	150	}
152	}	151	}
153	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	152	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
154	// if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;	153	// if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
155	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	154	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
156	}	155	}
157		156
158	//############################################################################	157	//############################################################################
159	//Hauptprogramm	158	//Hauptprogramm
160	int main (void)	159	int main (void)
161	//############################################################################	160	//############################################################################
162	{	161	{
163	unsigned int timer,i,timer2 = 0, timerPolling;	162	unsigned int timer,i,timer2 = 0, timerPolling;
164	unsigned char RequiredMotors = 0;	163	unsigned char RequiredMotors = 0;
165		164
166	DDRB = 0x00;	165	DDRB = 0x00;
167	PORTB = 0x00;	166	PORTB = 0x00;
168	for(timer = 0; timer < 1000; timer++); // verzögern	167	for(timer = 0; timer < 1000; timer++); // verzögern
169	if(PINB & 0x01)	168	if(PINB & 0x01)
170	{	169	{
171	if(PINB & 0x02) PlatinenVersion = 13;	170	if(PINB & 0x02) PlatinenVersion = 13;
172	else PlatinenVersion = 11;	171	else PlatinenVersion = 11;
173	}	172	}
174	else	173	else
175	{	174	{
176	if(PINB & 0x02) PlatinenVersion = 20;	175	if(PINB & 0x02) PlatinenVersion = 20;
177	else PlatinenVersion = 10;	176	else PlatinenVersion = 10;
178	}	177	}
179		178
180	DDRC = 0x81; // SCL	179	DDRC = 0x81; // SCL
181	DDRC \|=0x40; // HEF4017 Reset	180	DDRC \|=0x40; // HEF4017 Reset
182	PORTC = 0xff; // Pullup SDA	181	PORTC = 0xff; // Pullup SDA
183	DDRB = 0x1B; // LEDs und Druckoffset	182	DDRB = 0x1B; // LEDs und Druckoffset
184	PORTB = 0x01; // LED_Rot	183	PORTB = 0x01; // LED_Rot
185	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	184	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
186	PORTD = 0x47; // LED	185	PORTD = 0x47; // LED
187	HEF4017R_ON;	186	HEF4017R_ON;
188	MCUSR &=~(1<<WDRF);	187	MCUSR &=~(1<<WDRF);
189	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	188	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
190	WDTCSR = 0;	189	WDTCSR = 0;
191		190
192	beeptime = 2000;	191	beeptime = 2000;
193	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;	192	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
194	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	193	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
195	ROT_OFF;	194	ROT_OFF;
196		195
197	Timer_Init();	196	Timer_Init();
198	TIMER2_Init();	197	TIMER2_Init();
199	UART_Init();	198	UART_Init();
200	rc_sum_init();	199	rc_sum_init();
201	ADC_Init();	200	ADC_Init();
202	i2c_init();	201	i2c_init();
203	SPI_MasterInit();	202	SPI_MasterInit();
204	Capacity_Init();	203	Capacity_Init();
205	LIBFC_Init();	204	LIBFC_Init();
206	GRN_ON;	205	GRN_ON;
207	sei();	206	sei();
208		207
209	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes	208	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
210		209
211		210
212	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte	211	if((eeprom_read_byte((unsigned char*)(EEPROM_ADR_MIXER_TABLE)) == MIXER_REVISION) && // Check Revision in the first Byte
213	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool	212	(eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != 0xff)) // Settings reset via Koptertool
214	{	213	{
215	unsigned char i;	214	unsigned char i;
216	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	215	eeprom_read_block(&Mixer, (unsigned char*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer));
217	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}	216	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
218	}	217	}
219	else // default	218	else // default
220	{	219	{
221	unsigned char i;	220	unsigned char i;
222	printf("\n\rGenerating default Mixer Table");	221	printf("\n\rGenerating default Mixer Table");
223	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	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;};
224	// default = Quadro	223	// default = Quadro
225	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;	224	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;
226	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;	225	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;
227	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;	226	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
228	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;	227	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
229	Mixer.Revision = MIXER_REVISION;	228	Mixer.Revision = MIXER_REVISION;
230	memcpy(Mixer.Name, "Quadro\0", 11);	229	memcpy(Mixer.Name, "Quadro\0", 11);
231	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	230	eeprom_write_block(&Mixer, (void*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer));
232	}	231	}
233	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);	232	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
234		233
235	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	234	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
236	// + Check connected BL-Ctrls	235	// + Check connected BL-Ctrls
237	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	236	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
238	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data	237	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data
239	printf("\n\rFound BL-Ctrl: ");	238	printf("\n\rFound BL-Ctrl: ");
240	timer = SetDelay(4000);	239	timer = SetDelay(4000);
241		240
242	for(i=0; i < MAX_MOTORS; i++)	241	for(i=0; i < MAX_MOTORS; i++)
243	{	242	{
244	UpdateMotor = 0;	243	UpdateMotor = 0;
245	SendMotorData();	244	SendMotorData();
246	while(!UpdateMotor);	245	while(!UpdateMotor);
247	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up	246	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
248	{	247	{
249	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};	248	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
250	}	249	}
251	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1);	250	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1);
252	}	251	}
253	for(i=0; i < MAX_MOTORS; i++)	252	for(i=0; i < MAX_MOTORS; i++)
254	{	253	{
255	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	254	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
256	{	255	{
257	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	256	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
258	ServoActive = 1; // just in case the FC would be used as camera-stabilizer	257	ServoActive = 1; // just in case the FC would be used as camera-stabilizer
259	}	258	}
260	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	259	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
261	}	260	}
262	printf("\n\r===================================");	261	printf("\n\r===================================");
263	SendMotorData();	262	SendMotorData();
264	//printf("\n size: %u",STRUCT_PARAM_LAENGE);	263	//printf("\n size: %u",STRUCT_PARAM_LAENGE);
265		264
266	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	265	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
267	// + Check Settings	266	// + Check Settings
268	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	267	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
269	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)	268	if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != EE_DATENREVISION)
270	{	269	{
271	DefaultKonstanten1();	270	DefaultKonstanten1();
272	printf("\n\rInit. EEPROM");	271	printf("\n\rInit. EEPROM");
273	for (unsigned char i=1;i<6;i++)	272	for (unsigned char i=1;i<6;i++)
274	{	273	{
275	if(i==2) DefaultKonstanten2(); // Kamera	274	if(i==2) DefaultKonstanten2(); // Kamera
276	if(i==3) DefaultKonstanten3(); // Beginner	275	if(i==3) DefaultKonstanten3(); // Beginner
277	if(i>3) DefaultKonstanten2(); // Kamera	276	if(i>3) DefaultKonstanten2(); // Kamera
278	if(PlatinenVersion >= 20)	277	if(PlatinenVersion >= 20)
279	{	278	{
280	EE_Parameter.Gyro_D = 5;	279	EE_Parameter.Gyro_D = 5;
281	EE_Parameter.Driftkomp = 0;	280	EE_Parameter.Driftkomp = 0;
282	EE_Parameter.GyroAccFaktor = 27;	281	EE_Parameter.GyroAccFaktor = 27;
283	EE_Parameter.WinkelUmschlagNick = 78;	282	EE_Parameter.WinkelUmschlagNick = 78;
284	EE_Parameter.WinkelUmschlagRoll = 78;	283	EE_Parameter.WinkelUmschlagRoll = 78;
285	}	284	}
286	// valid Stick-Settings?	285	// valid Stick-Settings?
287	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)	286	if(eeprom_read_byte((unsigned char)(EEPROM_ADR_CHANNELS)) < 12 && eeprom_read_byte((unsigned char)(EEPROM_ADR_CHANNELS+1)) < 12 && eeprom_read_byte((unsigned char)(EEPROM_ADR_CHANNELS+2)) < 12 && eeprom_read_byte((unsigned char)(EEPROM_ADR_CHANNELS+3)) < 12)
288	{	287	{
289	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);	288	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+0));
290	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);	289	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+1));
291	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);	290	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+2));
292	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);	291	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+3));
293	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);	292	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+4));
294	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);	293	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+5));
295	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);	294	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+6));
296	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);	295	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+7));
297		296
298	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)	297	if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8)) < 0xFF)
299	{	298	{
300	EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);	299	EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8));
301	EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);	300	EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+9));
302	EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);	301	EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+10));
303	EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);	302	EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+11));
304	}	303	}
305	else	304	else
306	{	305	{
307	EE_Parameter.Kanalbelegung[K_POTI5] = 9;	306	EE_Parameter.Kanalbelegung[K_POTI5] = 9;
308	EE_Parameter.Kanalbelegung[K_POTI6] = 10;	307	EE_Parameter.Kanalbelegung[K_POTI6] = 10;
309	EE_Parameter.Kanalbelegung[K_POTI7] = 11;	308	EE_Parameter.Kanalbelegung[K_POTI7] = 11;
310	EE_Parameter.Kanalbelegung[K_POTI8] = 12;	309	EE_Parameter.Kanalbelegung[K_POTI8] = 12;
311	}	310	}
312	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");	311	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
313	} else DefaultStickMapping();	312	} else DefaultStickMapping();
314	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	313	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
315	}	314	}
316	SetActiveParamSetNumber(3); // default-Setting	315	SetActiveParamSetNumber(3); // default-Setting
317	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);	316	eeprom_write_byte((unsigned char*)(EEPROM_ADR_VALID), EE_DATENREVISION);
318	}	317	}
319		318
320	FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);	319	FlugMinuten = (int)eeprom_read_byte((unsigned char)(EEPROM_ADR_MINUTES2)) 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1));
321	FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);	320	FlugMinutenGesamt = (int)eeprom_read_byte((unsigned char)(EEPROM_ADR_MINUTES)) 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES+1));
322	if(FlugMinutenGesamt == 0xffff \|\| FlugMinuten == 0xffff)	321	if(FlugMinutenGesamt == 0xffff \|\| FlugMinuten == 0xffff)
323	{	322	{
324	FlugMinuten = 0;	323	FlugMinuten = 0;
325	FlugMinutenGesamt = 0;	324	FlugMinutenGesamt = 0;
326	}	325	}
327	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);	326	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
328		327
329	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)	328	if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACC_NICK)) > 4)
330	{	329	{
331	printf("\n\rACC not calibrated !");	330	printf("\n\rACC not calibrated !");
332	}	331	}
333		332
334	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	333	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
335	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());	334	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
336		335
337		336
338	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	337	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
339	{	338	{
340	printf("\n\rCalibrating pressure sensor..");	339	printf("\n\rCalibrating pressure sensor..");
341	timer = SetDelay(1000);	340	timer = SetDelay(1000);
342	SucheLuftruckOffset();	341	SucheLuftruckOffset();
343	while (!CheckDelay(timer));	342	while (!CheckDelay(timer));
344	printf("OK\n\r");	343	printf("OK\n\r");
345	}	344	}
346		345
347	SetNeutral();	346	SetNeutral();
348		347
349	ROT_OFF;	348	ROT_OFF;
350		349
351	beeptime = 2000;	350	beeptime = 2000;
352	ExternControl.Digital[0] = 0x55;	351	ExternControl.Digital[0] = 0x55;
353		352
354		353
355	printf("\n\rControl: ");	354	printf("\n\rControl: ");
356	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	355	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
357	else printf("Normal (ACC-Mode)");	356	else printf("Normal (ACC-Mode)");
358		357
359	LcdClear();	358	LcdClear();
360	I2CTimeout = 5000;	359	I2CTimeout = 5000;
361	WinkelOut.Orientation = 1;	360	WinkelOut.Orientation = 1;
362	LipoDetection(1);	361	LipoDetection(1);
363		362
364	LIBFC_ReceiverInit();	363	LIBFC_ReceiverInit();
365		364
366	printf("\n\r===================================\n\r");	365	printf("\n\r===================================\n\r");
367	//SpektrumBinding();	366	//SpektrumBinding();
368	timer = SetDelay(2000);	367	timer = SetDelay(2000);
369	timerPolling = SetDelay(250);	368	timerPolling = SetDelay(250);
370		369
371	while (1)	370	while (1)
372	{	371	{
373		372
374	if(CheckDelay(timerPolling))	373	if(CheckDelay(timerPolling))
375	{	374	{
376	timerPolling = SetDelay(100);	375	timerPolling = SetDelay(100);
377	LIBFC_Polling();	376	LIBFC_Polling();
378	}	377	}
379		378
380	if(UpdateMotor && AdReady) // ReglerIntervall	379	if(UpdateMotor && AdReady) // ReglerIntervall
381	{	380	{
382	UpdateMotor=0;	381	UpdateMotor=0;
383	if(WinkelOut.CalcState) CalMk3Mag();	382	if(WinkelOut.CalcState) CalMk3Mag();
384	else MotorRegler();	383	else MotorRegler();
385	SendMotorData();	384	SendMotorData();
386	ROT_OFF;	385	ROT_OFF;
387	if(SenderOkay) SenderOkay--;	386	if(SenderOkay) SenderOkay--;
388	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	387	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
389	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	388	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
390	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	389	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
391	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	390	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
392	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	391	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
393		392
394	if(!--I2CTimeout \|\| MissingMotor)	393	if(!--I2CTimeout \|\| MissingMotor)
395	{	394	{
396	if(!I2CTimeout)	395	if(!I2CTimeout)
397	{	396	{
398	i2c_reset();	397	i2c_reset();
399	I2CTimeout = 5;	398	I2CTimeout = 5;
400	DebugOut.Analog[28]++; // I2C-Error	399	DebugOut.Analog[28]++; // I2C-Error
401	FCFlags \|= FCFLAG_I2CERR;	400	FCFlags \|= FCFLAG_I2CERR;
402	}	401	}
403	if((BeepMuster == 0xffff) && MotorenEin)	402	if((BeepMuster == 0xffff) && MotorenEin)
404	{	403	{
405	beeptime = 10000;	404	beeptime = 10000;
406	BeepMuster = 0x0080;	405	BeepMuster = 0x0080;
407	}	406	}
408	}	407	}
409	else	408	else
410	{	409	{
411	ROT_OFF;	410	ROT_OFF;
412	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;	411	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
413	}	412	}
414	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))	413	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))
415	{	414	{
416	DatenUebertragung();	415	DatenUebertragung();
417	BearbeiteRxDaten();	416	BearbeiteRxDaten();
418	}	417	}
419	else BearbeiteRxDaten();	418	else BearbeiteRxDaten();
420	if(CheckDelay(timer))	419	if(CheckDelay(timer))
421	{	420	{
422	static unsigned char second;	421	static unsigned char second;
423	timer += 20; // 20 ms interval	422	timer += 20; // 20 ms interval
424	if(PcZugriff) PcZugriff--;	423	if(PcZugriff) PcZugriff--;
425	else	424	else
426	{	425	{
427	ExternControl.Config = 0;	426	ExternControl.Config = 0;
428	ExternStickNick = 0;	427	ExternStickNick = 0;
429	ExternStickRoll = 0;	428	ExternStickRoll = 0;
430	ExternStickGier = 0;	429	ExternStickGier = 0;
431	if(BeepMuster == 0xffff && SenderOkay == 0)	430	if(BeepMuster == 0xffff && SenderOkay == 0)
432	{	431	{
433	beeptime = 15000;	432	beeptime = 15000;
434	BeepMuster = 0x0c00;	433	BeepMuster = 0x0c00;
435	}	434	}
436	}	435	}
437	if(NaviDataOkay)	436	if(NaviDataOkay)
438	{	437	{
439	NaviDataOkay--;	438	NaviDataOkay--;
440	FCFlags &= ~FCFLAG_SPI_RX_ERR;	439	FCFlags &= ~FCFLAG_SPI_RX_ERR;
441	}	440	}
442	else	441	else
443	{	442	{
444	GPS_Nick = 0;	443	GPS_Nick = 0;
445	GPS_Roll = 0;	444	GPS_Roll = 0;
446	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;	445	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;
447	}	446	}
448	if(UBat < BattLowVoltageWarning)	447	if(UBat < BattLowVoltageWarning)
449	{	448	{
450	FCFlags \|= FCFLAG_LOWBAT;	449	FCFlags \|= FCFLAG_LOWBAT;
451	if(BeepMuster == 0xffff)	450	if(BeepMuster == 0xffff)
452	{	451	{
453	beeptime = 6000;	452	beeptime = 6000;
454	BeepMuster = 0x0300;	453	BeepMuster = 0x0300;
455	}	454	}
456	}	455	}
457	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;	456	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
458		457
459	SPI_StartTransmitPacket();	458	SPI_StartTransmitPacket();
460	SendSPI = 4;	459	SendSPI = 4;
461	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden	460	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
462	else	461	else
463	if(++second == 49)	462	if(++second == 49)
464	{	463	{
465	second = 0;	464	second = 0;
466	FlugSekunden++;	465	FlugSekunden++;
467	}	466	}
468		467
469	if(++timer2 == 2930) // eine Minute	468	if(++timer2 == 2930) // eine Minute
470	{	469	{
471	timer2 = 0;	470	timer2 = 0;
472	FlugMinuten++;	471	FlugMinuten++;
473	FlugMinutenGesamt++;	472	FlugMinutenGesamt++;
474	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);	473	eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2),FlugMinuten / 256);
475	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);	474	eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1),FlugMinuten % 256);
476	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);	475	eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES),FlugMinutenGesamt / 256);
477	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);	476	eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES+1),FlugMinutenGesamt % 256);
478	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	477	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
479	}	478	}
480	}	479	}
481	LED_Update();	480	LED_Update();
482	Capacity_Update();	481	Capacity_Update();
483	}	482	}
484	if(!SendSPI) { SPI_TransmitByte(); }	483	if(!SendSPI) { SPI_TransmitByte(); }
485	}	484	}
486	return (1);	485	return (1);
487	}	486	}
488		487
489		488
490		489

Subversion Repositories FlightCtrl

(root)/branches/V0.82b-Arthur-P/main.c @ 1813 - Rev 1591 → 1598