WebSVN - FlightCtrl - Diff - Rev 1440 and 1444 - /branches/V0.84a_ACC-HH_HR


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 EEPromArray[E2END+1] EEMEM;
unsigned char PlatinenVersion = 10;
unsigned char SendVersionToNavi = 1;
unsigned char BattLowVoltageWarning = 94;
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 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, &EEPromArray[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, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
   eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 12); // 12 Kanäle merken
   SetActiveParamSetNumber(number);
   LED_Init();
}
 
unsigned char GetActiveParamSetNumber(void)
{
        unsigned char set;
        set = eeprom_read_byte(&EEPromArray[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(&EEPromArray[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;
    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();
        LIBFC_Init();
 
        GRN_ON;
    sei();
 
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
 
 
    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;
         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;
         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, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
    }
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
 
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        printf("\n\rFound BL-Ctrl: ");
    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
    timer = SetDelay(2000);
 
 
        for(i=0; i < MAX_MOTORS; i++)
         {
          UpdateMotor = 0;
      SendMotorData();
          while(!UpdateMotor);
      if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
        {
             while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
                }
          if(MotorPresent[i]) printf("%d ",i+1);
     }
        for(i=0; i < MAX_MOTORS; i++)
         {
          if(!MotorPresent[i] && 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
           }
          MotorError[i] = 0;
     }
        printf("\n\r===================================");
    SendMotorData();
//printf("\n size: %u",STRUCT_PARAM_LAENGE);
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check Settings
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    if(eeprom_read_byte(&EEPromArray[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(&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)
            {
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
 
         if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)
                  {
                   EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);
           EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);
           EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);
           EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[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(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
        }
 
 
 
    FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
    FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[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(&EEPromArray[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))
                        {
                                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
 
                                if(++timer2 == 2930)  // eine Minute
                                 {
                                   timer2 = 0;
                   FlugMinuten++;
                       FlugMinutenGesamt++;
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);
                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
                             }
                        }
           LED_Update();
          }
     if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
 
 
 

Rev 1440	Rev 1444
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		54
55	unsigned char EEPromArray[E2END+1] EEMEM;	55	unsigned char EEPromArray[E2END+1] EEMEM;
56	unsigned char PlatinenVersion = 10;	56	unsigned char PlatinenVersion = 10;
57	unsigned char SendVersionToNavi = 1;	57	unsigned char SendVersionToNavi = 1;
58	unsigned char BattLowVoltageWarning = 94;	58	unsigned char BattLowVoltageWarning = 94;
59	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;	59	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
-		60
-		61	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
-		62
60	// -- Parametersatz aus EEPROM lesen ---	63	// -- Parametersatz aus EEPROM lesen ---
61	// number [1..5]	64	// number [1..5]
62	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	65	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
63	{	66	{
64	if((number > 5)\|\|(number < 1)) number = 3;	67	if((number > 5)\|\|(number < 1)) number = 3;
65	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	68	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
66	LED_Init();	69	LED_Init();
67	}	70	}
68		71
69	// -- Parametersatz ins EEPROM schreiben ---	72	// -- Parametersatz ins EEPROM schreiben ---
70	// number [1..5]	73	// number [1..5]
71	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	74	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
72	{	75	{
73	if(number > 5) number = 5;	76	if(number > 5) number = 5;
74	if(number < 1) return;	77	if(number < 1) return;
75	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	78	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
76	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken	79	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
77	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 12); // 12 Kanäle merken	80	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 12); // 12 Kanäle merken
78	SetActiveParamSetNumber(number);	81	SetActiveParamSetNumber(number);
79	LED_Init();	82	LED_Init();
80	}	83	}
81		84
82	unsigned char GetActiveParamSetNumber(void)	85	unsigned char GetActiveParamSetNumber(void)
83	{	86	{
84	unsigned char set;	87	unsigned char set;
85	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);	88	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
86	if((set > 5) \|\| (set < 1))	89	if((set > 5) \|\| (set < 1))
87	{	90	{
88	set = 3;	91	set = 3;
89	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken	92	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken
90	}	93	}
91	return(set);	94	return(set);
92	}	95	}
93		96
94	void SetActiveParamSetNumber(unsigned char number)	97	void SetActiveParamSetNumber(unsigned char number)
95	{	98	{
96	if(number > 5) number = 5;	99	if(number > 5) number = 5;
97	if(number < 1) return;	100	if(number < 1) return;
98	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken	101	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken
99	}	102	}
100		103
101		104
102	void CalMk3Mag(void)	105	void CalMk3Mag(void)
103	{	106	{
104	static unsigned char stick = 1;	107	static unsigned char stick = 1;
105		108
106	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	109	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
107	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	110	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
108	{	111	{
109	stick = 1;	112	stick = 1;
110	WinkelOut.CalcState++;	113	WinkelOut.CalcState++;
111	if(WinkelOut.CalcState > 4)	114	if(WinkelOut.CalcState > 4)
112	{	115	{
113	// WinkelOut.CalcState = 0; // in Uart.c	116	// WinkelOut.CalcState = 0; // in Uart.c
114	beeptime = 1000;	117	beeptime = 1000;
115	}	118	}
116	else Piep(WinkelOut.CalcState,150);	119	else Piep(WinkelOut.CalcState,150);
117	}	120	}
118	DebugOut.Analog[19] = WinkelOut.CalcState;	121	DebugOut.Analog[19] = WinkelOut.CalcState;
119	}	122	}
120		123
121		124
122		125
123	void LipoDetection(unsigned char print)	126	void LipoDetection(unsigned char print)
124	{	127	{
125	unsigned int timer;	128	unsigned int timer;
126	if(print) printf("\n\rBatt:");	129	if(print) printf("\n\rBatt:");
127	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	130	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
128	{	131	{
129	timer = SetDelay(500);	132	timer = SetDelay(500);
130	if(print) while (!CheckDelay(timer));	133	if(print) while (!CheckDelay(timer));
131	if(UBat < 130)	134	if(UBat < 130)
132	{	135	{
133	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;	136	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
134	if(print)	137	if(print)
135	{	138	{
136	Piep(3,200);	139	Piep(3,200);
137	printf(" 3 Cells ");	140	printf(" 3 Cells ");
138	}	141	}
139	}	142	}
140	else	143	else
141	{	144	{
142	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;	145	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
143	if(print)	146	if(print)
144	{	147	{
145	Piep(4,200);	148	Piep(4,200);
146	printf(" 4 Cells ");	149	printf(" 4 Cells ");
147	}	150	}
148	}	151	}
149	}	152	}
150	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	153	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
151	// if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;	154	// if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
152	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	155	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
153	}	156	}
154		157
155	//############################################################################	158	//############################################################################
156	//Hauptprogramm	159	//Hauptprogramm
157	int main (void)	160	int main (void)
158	//############################################################################	161	//############################################################################
159	{	162	{
160	unsigned int timer,i,timer2 = 0, timerPolling;	163	unsigned int timer,i,timer2 = 0, timerPolling;
161	DDRB = 0x00;	164	DDRB = 0x00;
162	PORTB = 0x00;	165	PORTB = 0x00;
163	for(timer = 0; timer < 1000; timer++); // verzögern	166	for(timer = 0; timer < 1000; timer++); // verzögern
164	if(PINB & 0x01)	167	if(PINB & 0x01)
165	{	168	{
166	if(PINB & 0x02) PlatinenVersion = 13;	169	if(PINB & 0x02) PlatinenVersion = 13;
167	else PlatinenVersion = 11;	170	else PlatinenVersion = 11;
168	}	171	}
169	else	172	else
170	{	173	{
171	if(PINB & 0x02) PlatinenVersion = 20;	174	if(PINB & 0x02) PlatinenVersion = 20;
172	else PlatinenVersion = 10;	175	else PlatinenVersion = 10;
173	}	176	}
174		177
175	DDRC = 0x81; // SCL	178	DDRC = 0x81; // SCL
176	DDRC \|=0x40; // HEF4017 Reset	179	DDRC \|=0x40; // HEF4017 Reset
177	PORTC = 0xff; // Pullup SDA	180	PORTC = 0xff; // Pullup SDA
178	DDRB = 0x1B; // LEDs und Druckoffset	181	DDRB = 0x1B; // LEDs und Druckoffset
179	PORTB = 0x01; // LED_Rot	182	PORTB = 0x01; // LED_Rot
180	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	183	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
181	PORTD = 0x47; // LED	184	PORTD = 0x47; // LED
182	HEF4017R_ON;	185	HEF4017R_ON;
183	MCUSR &=~(1<<WDRF);	186	MCUSR &=~(1<<WDRF);
184	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	187	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
185	WDTCSR = 0;	188	WDTCSR = 0;
186		189
187	beeptime = 2000;	190	beeptime = 2000;
188	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;	191	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
189	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	192	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
190	ROT_OFF;	193	ROT_OFF;
191		194
192	Timer_Init();	195	Timer_Init();
193	TIMER2_Init();	196	TIMER2_Init();
194	UART_Init();	197	UART_Init();
195	rc_sum_init();	198	rc_sum_init();
196	ADC_Init();	199	ADC_Init();
197	i2c_init();	200	i2c_init();
198	SPI_MasterInit();	201	SPI_MasterInit();
199	LIBFC_Init();	202	LIBFC_Init();
200		-
201	GRN_ON;	203	GRN_ON;
202	sei();	204	sei();
203		205
204	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes	206	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
205		207
206		208
207	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte	209	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
208	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool	210	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool
209	{	211	{
210	unsigned char i;	212	unsigned char i;
211	RequiredMotors = 0;	213	RequiredMotors = 0;
212	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	214	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
213	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}	215	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
214	}	216	}
215	else // default	217	else // default
216	{	218	{
217	unsigned char i;	219	unsigned char i;
218	printf("\n\rGenerating default Mixer Table");	220	printf("\n\rGenerating default Mixer Table");
219	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;};	221	for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;};
220	// default = Quadro	222	// default = Quadro
221	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;	223	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;
222	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;	224	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;
223	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;	225	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
224	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;	226	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
225	Mixer.Revision = MIXER_REVISION;	227	Mixer.Revision = MIXER_REVISION;
226	memcpy(Mixer.Name, "Quadro\0", 11);	228	memcpy(Mixer.Name, "Quadro\0", 11);
227	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	229	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
228	}	230	}
229	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);	231	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
230		232
231		233
232		234
233	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	235	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
234	// + Check connected BL-Ctrls	236	// + Check connected BL-Ctrls
235	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	237	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
236	printf("\n\rFound BL-Ctrl: ");	238	printf("\n\rFound BL-Ctrl: ");
237	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data	239	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data
238	timer = SetDelay(2000);	240	timer = SetDelay(2000);
239		241
240		242
241	for(i=0; i < MAX_MOTORS; i++)	243	for(i=0; i < MAX_MOTORS; i++)
242	{	244	{
243	UpdateMotor = 0;	245	UpdateMotor = 0;
244	SendMotorData();	246	SendMotorData();
245	while(!UpdateMotor);	247	while(!UpdateMotor);
246	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up	248	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
247	{	249	{
248	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};	250	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
249	}	251	}
250	if(MotorPresent[i]) printf("%d ",i+1);	252	if(MotorPresent[i]) printf("%d ",i+1);
251	}	253	}
252	for(i=0; i < MAX_MOTORS; i++)	254	for(i=0; i < MAX_MOTORS; i++)
253	{	255	{
254	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)	256	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)
255	{	257	{
256	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	258	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
257	ServoActive = 1; // just in case the FC would be used as camera-stabilizer	259	ServoActive = 1; // just in case the FC would be used as camera-stabilizer
258	}	260	}
259	MotorError[i] = 0;	261	MotorError[i] = 0;
260	}	262	}
261	printf("\n\r===================================");	263	printf("\n\r===================================");
262	SendMotorData();	264	SendMotorData();
263	//printf("\n size: %u",STRUCT_PARAM_LAENGE);	265	//printf("\n size: %u",STRUCT_PARAM_LAENGE);
264		266
265	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	267	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
266	// + Check Settings	268	// + Check Settings
267	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	269	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
268	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)	270	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
269	{	271	{
270	DefaultKonstanten1();	272	DefaultKonstanten1();
271	printf("\n\rInit. EEPROM");	273	printf("\n\rInit. EEPROM");
272	for (unsigned char i=1;i<6;i++)	274	for (unsigned char i=1;i<6;i++)
273	{	275	{
274	if(i==2) DefaultKonstanten2(); // Kamera	276	if(i==2) DefaultKonstanten2(); // Kamera
275	if(i==3) DefaultKonstanten3(); // Beginner	277	if(i==3) DefaultKonstanten3(); // Beginner
276	if(i>3) DefaultKonstanten2(); // Kamera	278	if(i>3) DefaultKonstanten2(); // Kamera
277	if(PlatinenVersion >= 20)	279	if(PlatinenVersion >= 20)
278	{	280	{
279	EE_Parameter.Gyro_D = 5;	281	EE_Parameter.Gyro_D = 5;
280	EE_Parameter.Driftkomp = 0;	282	EE_Parameter.Driftkomp = 0;
281	EE_Parameter.GyroAccFaktor = 27;	283	EE_Parameter.GyroAccFaktor = 27;
282	EE_Parameter.WinkelUmschlagNick = 78;	284	EE_Parameter.WinkelUmschlagNick = 78;
283	EE_Parameter.WinkelUmschlagRoll = 78;	285	EE_Parameter.WinkelUmschlagRoll = 78;
284	}	286	}
285	// valid Stick-Settings?	287	// valid Stick-Settings?
286	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)	288	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12)
287	{	289	{
288	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);	290	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
289	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);	291	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
290	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);	292	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
291	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);	293	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
292	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);	294	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
293	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);	295	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
294	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);	296	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
295	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);	297	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
296		298
297	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)	299	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)
298	{	300	{
299	EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);	301	EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);
300	EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);	302	EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);
301	EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);	303	EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);
302	EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);	304	EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);
303	}	305	}
304	else	306	else
305	{	307	{
306	EE_Parameter.Kanalbelegung[K_POTI5] = 9;	308	EE_Parameter.Kanalbelegung[K_POTI5] = 9;
307	EE_Parameter.Kanalbelegung[K_POTI6] = 10;	309	EE_Parameter.Kanalbelegung[K_POTI6] = 10;
308	EE_Parameter.Kanalbelegung[K_POTI7] = 11;	310	EE_Parameter.Kanalbelegung[K_POTI7] = 11;
309	EE_Parameter.Kanalbelegung[K_POTI8] = 12;	311	EE_Parameter.Kanalbelegung[K_POTI8] = 12;
310	}	312	}
311	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");	313	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
312	} else DefaultStickMapping();	314	} else DefaultStickMapping();
313	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	315	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
314	}	316	}
315	SetActiveParamSetNumber(3); // default-Setting	317	SetActiveParamSetNumber(3); // default-Setting
316	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);	318	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
317	}	319	}
318		320
319		321
320		322
321	FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);	323	FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
322	FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);	324	FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);
323	if(FlugMinutenGesamt == 0xffff \|\| FlugMinuten == 0xffff)	325	if(FlugMinutenGesamt == 0xffff \|\| FlugMinuten == 0xffff)
324	{	326	{
325	FlugMinuten = 0;	327	FlugMinuten = 0;
326	FlugMinutenGesamt = 0;	328	FlugMinutenGesamt = 0;
327	}	329	}
328	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);	330	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
329		331
330	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)	332	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
331	{	333	{
332	printf("\n\rACC not calibrated !");	334	printf("\n\rACC not calibrated !");
333	}	335	}
334		336
335	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	337	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
336	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());	338	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
337		339
338		340
339	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	341	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
340	{	342	{
341	printf("\n\rCalibrating pressure sensor..");	343	printf("\n\rCalibrating pressure sensor..");
342	timer = SetDelay(1000);	344	timer = SetDelay(1000);
343	SucheLuftruckOffset();	345	SucheLuftruckOffset();
344	while (!CheckDelay(timer));	346	while (!CheckDelay(timer));
345	printf("OK\n\r");	347	printf("OK\n\r");
346	}	348	}
347		349
348	SetNeutral();	350	SetNeutral();
349		351
350	ROT_OFF;	352	ROT_OFF;
351		353
352	beeptime = 2000;	354	beeptime = 2000;
353	ExternControl.Digital[0] = 0x55;	355	ExternControl.Digital[0] = 0x55;
354		356
355		357
356	printf("\n\rControl: ");	358	printf("\n\rControl: ");
357	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	359	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
358	else printf("Normal (ACC-Mode)");	360	else printf("Normal (ACC-Mode)");
359		361
360	LcdClear();	362	LcdClear();
361	I2CTimeout = 5000;	363	I2CTimeout = 5000;
362	WinkelOut.Orientation = 1;	364	WinkelOut.Orientation = 1;
363	LipoDetection(1);	365	LipoDetection(1);
364		366
365	LIBFC_ReceiverInit();	367	LIBFC_ReceiverInit();
-		368
366	printf("\n\r===================================\n\r");	369	printf("\n\r===================================\n\r");
367	//SpektrumBinding();	370	//SpektrumBinding();
368	timer = SetDelay(2000);	371	timer = SetDelay(2000);
369	timerPolling = SetDelay(250);	372	timerPolling = SetDelay(250);
370	while (1)	373	while (1)
371	{	374	{
372		375
373	if(CheckDelay(timerPolling))	376	if(CheckDelay(timerPolling))
374	{	377	{
375	timerPolling = SetDelay(100);	378	timerPolling = SetDelay(100);
376	LIBFC_Polling();	379	LIBFC_Polling();
377	}	380	}
378		381
379	if(UpdateMotor && AdReady) // ReglerIntervall	382	if(UpdateMotor && AdReady) // ReglerIntervall
380	{	383	{
381	UpdateMotor=0;	384	UpdateMotor=0;
382	if(WinkelOut.CalcState) CalMk3Mag();	385	if(WinkelOut.CalcState) CalMk3Mag();
383	else MotorRegler();	386	else MotorRegler();
384	SendMotorData();	387	SendMotorData();
385	ROT_OFF;	388	ROT_OFF;
386	if(SenderOkay) SenderOkay--;	389	if(SenderOkay) SenderOkay--;
387	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	390	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
388	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	391	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
389	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	392	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
390	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	393	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
391	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	394	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
392		395
393	if(!--I2CTimeout \|\| MissingMotor)	396	if(!--I2CTimeout \|\| MissingMotor)
394	{	397	{
395	if(!I2CTimeout)	398	if(!I2CTimeout)
396	{	399	{
397	i2c_reset();	400	i2c_reset();
398	I2CTimeout = 5;	401	I2CTimeout = 5;
399	DebugOut.Analog[28]++; // I2C-Error	402	DebugOut.Analog[28]++; // I2C-Error
400	FCFlags \|= FCFLAG_I2CERR;	403	FCFlags \|= FCFLAG_I2CERR;
401	}	404	}
402	if((BeepMuster == 0xffff) && MotorenEin)	405	if((BeepMuster == 0xffff) && MotorenEin)
403	{	406	{
404	beeptime = 10000;	407	beeptime = 10000;
405	BeepMuster = 0x0080;	408	BeepMuster = 0x0080;
406	}	409	}
407	}	410	}
408	else	411	else
409	{	412	{
410	ROT_OFF;	413	ROT_OFF;
411	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;	414	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
412	}	415	}
413	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))	416	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))
414	{	417	{
415	DatenUebertragung();	418	DatenUebertragung();
416	BearbeiteRxDaten();	419	BearbeiteRxDaten();
417	}	420	}
418	else BearbeiteRxDaten();	421	else BearbeiteRxDaten();
419	if(CheckDelay(timer))	422	if(CheckDelay(timer))
420	{	423	{
421	timer += 20; // 20 ms interval	424	timer += 20; // 20 ms interval
422	if(PcZugriff) PcZugriff--;	425	if(PcZugriff) PcZugriff--;
423	else	426	else
424	{	427	{
425	ExternControl.Config = 0;	428	ExternControl.Config = 0;
426	ExternStickNick = 0;	429	ExternStickNick = 0;
427	ExternStickRoll = 0;	430	ExternStickRoll = 0;
428	ExternStickGier = 0;	431	ExternStickGier = 0;
429	if(BeepMuster == 0xffff && SenderOkay == 0)	432	if(BeepMuster == 0xffff && SenderOkay == 0)
430	{	433	{
431	beeptime = 15000;	434	beeptime = 15000;
432	BeepMuster = 0x0c00;	435	BeepMuster = 0x0c00;
433	}	436	}
434	}	437	}
435	if(NaviDataOkay)	438	if(NaviDataOkay)
436	{	439	{
437	NaviDataOkay--;	440	NaviDataOkay--;
438	FCFlags &= ~FCFLAG_SPI_RX_ERR;	441	FCFlags &= ~FCFLAG_SPI_RX_ERR;
439	}	442	}
440	else	443	else
441	{	444	{
442	GPS_Nick = 0;	445	GPS_Nick = 0;
443	GPS_Roll = 0;	446	GPS_Roll = 0;
444	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;	447	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;
445	}	448	}
446	if(UBat < BattLowVoltageWarning)	449	if(UBat < BattLowVoltageWarning)
447	{	450	{
448	FCFlags \|= FCFLAG_LOWBAT;	451	FCFlags \|= FCFLAG_LOWBAT;
449	if(BeepMuster == 0xffff)	452	if(BeepMuster == 0xffff)
450	{	453	{
451	beeptime = 6000;	454	beeptime = 6000;
452	BeepMuster = 0x0300;	455	BeepMuster = 0x0300;
453	}	456	}
454	}	457	}
455	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;	458	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
456		459
457	SPI_StartTransmitPacket();	460	SPI_StartTransmitPacket();
458	SendSPI = 4;	461	SendSPI = 4;
459		462
460	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden	463	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
461		464
462	if(++timer2 == 2930) // eine Minute	465	if(++timer2 == 2930) // eine Minute
463	{	466	{
464	timer2 = 0;	467	timer2 = 0;
465	FlugMinuten++;	468	FlugMinuten++;
466	FlugMinutenGesamt++;	469	FlugMinutenGesamt++;
467	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);	470	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);
468	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);	471	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);
469	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);	472	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);
470	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);	473	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);
471	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	474	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
472	}	475	}
473	}	476	}
474	LED_Update();	477	LED_Update();
475	}	478	}
476	if(!SendSPI) { SPI_TransmitByte(); }	479	if(!SendSPI) { SPI_TransmitByte(); }
477	}	480	}
478	return (1);	481	return (1);
479	}	482	}
480		483
481		484
482		485

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_ACC-HH_HR_MartinR/main.c @ 2244 - Rev 1440 → 1444