WebSVN - FlightCtrl - Diff - Rev 1501 and 1506 - /branches/V0.84a_var


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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;
        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(&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;
     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);
 
 
    OwnConsumptionCurrent = 2 * RequiredMotors + STATIC_CURRENT;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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) && !(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(&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();
           Capacity_Update();
          }
     if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
 
 
 

Rev 1501	Rev 1506
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		60
61	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;	61	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
62		62
63	// -- Parametersatz aus EEPROM lesen ---	63	// -- Parametersatz aus EEPROM lesen ---
64	// number [1..5]	64	// number [1..5]
65	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	65	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
66	{	66	{
67	if((number > 5)\|\|(number < 1)) number = 3;	67	if((number > 5)\|\|(number < 1)) number = 3;
68	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);
69	LED_Init();	69	LED_Init();
70	}	70	}
71		71
72	// -- Parametersatz ins EEPROM schreiben ---	72	// -- Parametersatz ins EEPROM schreiben ---
73	// number [1..5]	73	// number [1..5]
74	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	74	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
75	{	75	{
76	if(number > 5) number = 5;	76	if(number > 5) number = 5;
77	if(number < 1) return;	77	if(number < 1) return;
78	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);
79	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
80	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
81	SetActiveParamSetNumber(number);	81	SetActiveParamSetNumber(number);
82	LED_Init();	82	LED_Init();
83	}	83	}
84		84
85	unsigned char GetActiveParamSetNumber(void)	85	unsigned char GetActiveParamSetNumber(void)
86	{	86	{
87	unsigned char set;	87	unsigned char set;
88	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);	88	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
89	if((set > 5) \|\| (set < 1))	89	if((set > 5) \|\| (set < 1))
90	{	90	{
91	set = 3;	91	set = 3;
92	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken	92	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken
93	}	93	}
94	return(set);	94	return(set);
95	}	95	}
96		96
97	void SetActiveParamSetNumber(unsigned char number)	97	void SetActiveParamSetNumber(unsigned char number)
98	{	98	{
99	if(number > 5) number = 5;	99	if(number > 5) number = 5;
100	if(number < 1) return;	100	if(number < 1) return;
101	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
102	}	102	}
103		103
104		104
105	void CalMk3Mag(void)	105	void CalMk3Mag(void)
106	{	106	{
107	static unsigned char stick = 1;	107	static unsigned char stick = 1;
108		108
109	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	109	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
110	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	110	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
111	{	111	{
112	stick = 1;	112	stick = 1;
113	WinkelOut.CalcState++;	113	WinkelOut.CalcState++;
114	if(WinkelOut.CalcState > 4)	114	if(WinkelOut.CalcState > 4)
115	{	115	{
116	// WinkelOut.CalcState = 0; // in Uart.c	116	// WinkelOut.CalcState = 0; // in Uart.c
117	beeptime = 1000;	117	beeptime = 1000;
118	}	118	}
119	else Piep(WinkelOut.CalcState,150);	119	else Piep(WinkelOut.CalcState,150);
120	}	120	}
121	DebugOut.Analog[19] = WinkelOut.CalcState;	121	DebugOut.Analog[19] = WinkelOut.CalcState;
122	}	122	}
123		123
124		124
125		125
126	void LipoDetection(unsigned char print)	126	void LipoDetection(unsigned char print)
127	{	127	{
128	unsigned int timer;	128	unsigned int timer;
129	if(print) printf("\n\rBatt:");	129	if(print) printf("\n\rBatt:");
130	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	130	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
131	{	131	{
132	timer = SetDelay(500);	132	timer = SetDelay(500);
133	if(print) while (!CheckDelay(timer));	133	if(print) while (!CheckDelay(timer));
134	if(UBat < 130)	134	if(UBat < 130)
135	{	135	{
136	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;	136	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
137	if(print)	137	if(print)
138	{	138	{
139	Piep(3,200);	139	Piep(3,200);
140	printf(" 3 Cells ");	140	printf(" 3 Cells ");
141	}	141	}
142	}	142	}
143	else	143	else
144	{	144	{
145	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;	145	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
146	if(print)	146	if(print)
147	{	147	{
148	Piep(4,200);	148	Piep(4,200);
149	printf(" 4 Cells ");	149	printf(" 4 Cells ");
150	}	150	}
151	}	151	}
152	}	152	}
153	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	153	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
154	// if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;	154	// if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
155	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);
156	}	156	}
157		157
158	//############################################################################	158	//############################################################################
159	//Hauptprogramm	159	//Hauptprogramm
160	int main (void)	160	int main (void)
161	//############################################################################	161	//############################################################################
162	{	162	{
163	unsigned int timer,i,timer2 = 0, timerPolling;	163	unsigned int timer,i,timer2 = 0, timerPolling;
164	unsigned char RequiredMotors = 0;	164	unsigned char RequiredMotors = 0;
165		165
166	DDRB = 0x00;	166	DDRB = 0x00;
167	PORTB = 0x00;	167	PORTB = 0x00;
168	for(timer = 0; timer < 1000; timer++); // verzögern	168	for(timer = 0; timer < 1000; timer++); // verzögern
169	if(PINB & 0x01)	169	if(PINB & 0x01)
170	{	170	{
171	if(PINB & 0x02) PlatinenVersion = 13;	171	if(PINB & 0x02) PlatinenVersion = 13;
172	else PlatinenVersion = 11;	172	else PlatinenVersion = 11;
173	}	173	}
174	else	174	else
175	{	175	{
176	if(PINB & 0x02) PlatinenVersion = 20;	176	if(PINB & 0x02) PlatinenVersion = 20;
177	else PlatinenVersion = 10;	177	else PlatinenVersion = 10;
178	}	178	}
179		179
180	DDRC = 0x81; // SCL	180	DDRC = 0x81; // SCL
181	DDRC \|=0x40; // HEF4017 Reset	181	DDRC \|=0x40; // HEF4017 Reset
182	PORTC = 0xff; // Pullup SDA	182	PORTC = 0xff; // Pullup SDA
183	DDRB = 0x1B; // LEDs und Druckoffset	183	DDRB = 0x1B; // LEDs und Druckoffset
184	PORTB = 0x01; // LED_Rot	184	PORTB = 0x01; // LED_Rot
185	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	185	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
186	PORTD = 0x47; // LED	186	PORTD = 0x47; // LED
187	HEF4017R_ON;	187	HEF4017R_ON;
188	MCUSR &=~(1<<WDRF);	188	MCUSR &=~(1<<WDRF);
189	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	189	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
190	WDTCSR = 0;	190	WDTCSR = 0;
191		191
192	beeptime = 2000;	192	beeptime = 2000;
193	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;	193	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	194	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
195	ROT_OFF;	195	ROT_OFF;
196		196
197	Timer_Init();	197	Timer_Init();
198	TIMER2_Init();	198	TIMER2_Init();
199	UART_Init();	199	UART_Init();
200	rc_sum_init();	200	rc_sum_init();
201	ADC_Init();	201	ADC_Init();
202	i2c_init();	202	i2c_init();
203	SPI_MasterInit();	203	SPI_MasterInit();
204	Capacity_Init();	204	Capacity_Init();
205	LIBFC_Init();	205	LIBFC_Init();
206	GRN_ON;	206	GRN_ON;
207	sei();	207	sei();
208		208
209	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes	209	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
210		210
211		211
212	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte	212	if((eeprom_read_byte(&EEPromArray[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	213	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool
214	{	214	{
215	unsigned char i;	215	unsigned char i;
216	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	216	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
217	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}	217	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
218	}	218	}
219	else // default	219	else // default
220	{	220	{
221	unsigned char i;	221	unsigned char i;
222	printf("\n\rGenerating default Mixer Table");	222	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;};	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;};
224	// default = Quadro	224	// default = Quadro
225	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;	225	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;	226	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;	227	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;	228	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;	229	Mixer.Revision = MIXER_REVISION;
230	memcpy(Mixer.Name, "Quadro\0", 11);	230	memcpy(Mixer.Name, "Quadro\0", 11);
231	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	231	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
232	}	232	}
233	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);	233	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
234		-
235		-
-		234	OwnConsumptionCurrent = 2 * RequiredMotors + STATIC_CURRENT;
236		235
237	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	236	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
238	// + Check connected BL-Ctrls	237	// + Check connected BL-Ctrls
239	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	238	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
240	printf("\n\rFound BL-Ctrl: ");	239	printf("\n\rFound BL-Ctrl: ");
241	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data	240	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data
242	timer = SetDelay(2000);	241	timer = SetDelay(2000);
243		242
244	for(i=0; i < MAX_MOTORS; i++)	243	for(i=0; i < MAX_MOTORS; i++)
245	{	244	{
246	UpdateMotor = 0;	245	UpdateMotor = 0;
247	SendMotorData();	246	SendMotorData();
248	while(!UpdateMotor);	247	while(!UpdateMotor);
249	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
250	{	249	{
251	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};	250	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
252	}	251	}
253	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1);	252	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1);
254	}	253	}
255	for(i=0; i < MAX_MOTORS; i++)	254	for(i=0; i < MAX_MOTORS; i++)
256	{	255	{
257	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	256	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
258	{	257	{
259	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	258	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
260	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
261	}	260	}
262	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	261	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
263	}	262	}
264	printf("\n\r===================================");	263	printf("\n\r===================================");
265	SendMotorData();	264	SendMotorData();
266	//printf("\n size: %u",STRUCT_PARAM_LAENGE);	265	//printf("\n size: %u",STRUCT_PARAM_LAENGE);
267		266
268	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	267	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
269	// + Check Settings	268	// + Check Settings
270	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	269	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
271	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)	270	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
272	{	271	{
273	DefaultKonstanten1();	272	DefaultKonstanten1();
274	printf("\n\rInit. EEPROM");	273	printf("\n\rInit. EEPROM");
275	for (unsigned char i=1;i<6;i++)	274	for (unsigned char i=1;i<6;i++)
276	{	275	{
277	if(i==2) DefaultKonstanten2(); // Kamera	276	if(i==2) DefaultKonstanten2(); // Kamera
278	if(i==3) DefaultKonstanten3(); // Beginner	277	if(i==3) DefaultKonstanten3(); // Beginner
279	if(i>3) DefaultKonstanten2(); // Kamera	278	if(i>3) DefaultKonstanten2(); // Kamera
280	if(PlatinenVersion >= 20)	279	if(PlatinenVersion >= 20)
281	{	280	{
282	EE_Parameter.Gyro_D = 5;	281	EE_Parameter.Gyro_D = 5;
283	EE_Parameter.Driftkomp = 0;	282	EE_Parameter.Driftkomp = 0;
284	EE_Parameter.GyroAccFaktor = 27;	283	EE_Parameter.GyroAccFaktor = 27;
285	EE_Parameter.WinkelUmschlagNick = 78;	284	EE_Parameter.WinkelUmschlagNick = 78;
286	EE_Parameter.WinkelUmschlagRoll = 78;	285	EE_Parameter.WinkelUmschlagRoll = 78;
287	}	286	}
288	// valid Stick-Settings?	287	// valid Stick-Settings?
289	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)
290	{	289	{
291	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]);
292	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]);
293	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]);
294	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]);
295	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]);
296	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]);
297	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]);
298	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]);
299		298
300	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)	299	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)
301	{	300	{
302	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]);
303	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]);
304	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]);
305	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]);
306	}	305	}
307	else	306	else
308	{	307	{
309	EE_Parameter.Kanalbelegung[K_POTI5] = 9;	308	EE_Parameter.Kanalbelegung[K_POTI5] = 9;
310	EE_Parameter.Kanalbelegung[K_POTI6] = 10;	309	EE_Parameter.Kanalbelegung[K_POTI6] = 10;
311	EE_Parameter.Kanalbelegung[K_POTI7] = 11;	310	EE_Parameter.Kanalbelegung[K_POTI7] = 11;
312	EE_Parameter.Kanalbelegung[K_POTI8] = 12;	311	EE_Parameter.Kanalbelegung[K_POTI8] = 12;
313	}	312	}
314	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");	313	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
315	} else DefaultStickMapping();	314	} else DefaultStickMapping();
316	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	315	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
317	}	316	}
318	SetActiveParamSetNumber(3); // default-Setting	317	SetActiveParamSetNumber(3); // default-Setting
319	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);	318	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
320	}	319	}
321		320
322		321
323		322
324	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]);
325	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]);
326	if(FlugMinutenGesamt == 0xffff \|\| FlugMinuten == 0xffff)	325	if(FlugMinutenGesamt == 0xffff \|\| FlugMinuten == 0xffff)
327	{	326	{
328	FlugMinuten = 0;	327	FlugMinuten = 0;
329	FlugMinutenGesamt = 0;	328	FlugMinutenGesamt = 0;
330	}	329	}
331	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);	330	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
332		331
333	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)	332	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
334	{	333	{
335	printf("\n\rACC not calibrated !");	334	printf("\n\rACC not calibrated !");
336	}	335	}
337		336
338	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	337	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
339	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());	338	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
340		339
341		340
342	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	341	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
343	{	342	{
344	printf("\n\rCalibrating pressure sensor..");	343	printf("\n\rCalibrating pressure sensor..");
345	timer = SetDelay(1000);	344	timer = SetDelay(1000);
346	SucheLuftruckOffset();	345	SucheLuftruckOffset();
347	while (!CheckDelay(timer));	346	while (!CheckDelay(timer));
348	printf("OK\n\r");	347	printf("OK\n\r");
349	}	348	}
350		349
351	SetNeutral();	350	SetNeutral();
352		351
353	ROT_OFF;	352	ROT_OFF;
354		353
355	beeptime = 2000;	354	beeptime = 2000;
356	ExternControl.Digital[0] = 0x55;	355	ExternControl.Digital[0] = 0x55;
357		356
358		357
359	printf("\n\rControl: ");	358	printf("\n\rControl: ");
360	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	359	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
361	else printf("Normal (ACC-Mode)");	360	else printf("Normal (ACC-Mode)");
362		361
363	LcdClear();	362	LcdClear();
364	I2CTimeout = 5000;	363	I2CTimeout = 5000;
365	WinkelOut.Orientation = 1;	364	WinkelOut.Orientation = 1;
366	LipoDetection(1);	365	LipoDetection(1);
367		366
368	LIBFC_ReceiverInit();	367	LIBFC_ReceiverInit();
369		368
370	printf("\n\r===================================\n\r");	369	printf("\n\r===================================\n\r");
371	//SpektrumBinding();	370	//SpektrumBinding();
372	timer = SetDelay(2000);	371	timer = SetDelay(2000);
373	timerPolling = SetDelay(250);	372	timerPolling = SetDelay(250);
374	while (1)	373	while (1)
375	{	374	{
376		375
377	if(CheckDelay(timerPolling))	376	if(CheckDelay(timerPolling))
378	{	377	{
379	timerPolling = SetDelay(100);	378	timerPolling = SetDelay(100);
380	LIBFC_Polling();	379	LIBFC_Polling();
381	}	380	}
382		381
383	if(UpdateMotor && AdReady) // ReglerIntervall	382	if(UpdateMotor && AdReady) // ReglerIntervall
384	{	383	{
385	UpdateMotor=0;	384	UpdateMotor=0;
386	if(WinkelOut.CalcState) CalMk3Mag();	385	if(WinkelOut.CalcState) CalMk3Mag();
387	else MotorRegler();	386	else MotorRegler();
388	SendMotorData();	387	SendMotorData();
389	ROT_OFF;	388	ROT_OFF;
390	if(SenderOkay) SenderOkay--;	389	if(SenderOkay) SenderOkay--;
391	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	390	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
392	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	391	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
393	//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;
394	//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;
395	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	394	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
396		395
397	if(!--I2CTimeout \|\| MissingMotor)	396	if(!--I2CTimeout \|\| MissingMotor)
398	{	397	{
399	if(!I2CTimeout)	398	if(!I2CTimeout)
400	{	399	{
401	i2c_reset();	400	i2c_reset();
402	I2CTimeout = 5;	401	I2CTimeout = 5;
403	DebugOut.Analog[28]++; // I2C-Error	402	DebugOut.Analog[28]++; // I2C-Error
404	FCFlags \|= FCFLAG_I2CERR;	403	FCFlags \|= FCFLAG_I2CERR;
405	}	404	}
406	if((BeepMuster == 0xffff) && MotorenEin)	405	if((BeepMuster == 0xffff) && MotorenEin)
407	{	406	{
408	beeptime = 10000;	407	beeptime = 10000;
409	BeepMuster = 0x0080;	408	BeepMuster = 0x0080;
410	}	409	}
411	}	410	}
412	else	411	else
413	{	412	{
414	ROT_OFF;	413	ROT_OFF;
415	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;	414	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
416	}	415	}
417	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))	416	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))
418	{	417	{
419	DatenUebertragung();	418	DatenUebertragung();
420	BearbeiteRxDaten();	419	BearbeiteRxDaten();
421	}	420	}
422	else BearbeiteRxDaten();	421	else BearbeiteRxDaten();
423	if(CheckDelay(timer))	422	if(CheckDelay(timer))
424	{	423	{
425	timer += 20; // 20 ms interval	424	timer += 20; // 20 ms interval
426	if(PcZugriff) PcZugriff--;	425	if(PcZugriff) PcZugriff--;
427	else	426	else
428	{	427	{
429	ExternControl.Config = 0;	428	ExternControl.Config = 0;
430	ExternStickNick = 0;	429	ExternStickNick = 0;
431	ExternStickRoll = 0;	430	ExternStickRoll = 0;
432	ExternStickGier = 0;	431	ExternStickGier = 0;
433	if(BeepMuster == 0xffff && SenderOkay == 0)	432	if(BeepMuster == 0xffff && SenderOkay == 0)
434	{	433	{
435	beeptime = 15000;	434	beeptime = 15000;
436	BeepMuster = 0x0c00;	435	BeepMuster = 0x0c00;
437	}	436	}
438	}	437	}
439	if(NaviDataOkay)	438	if(NaviDataOkay)
440	{	439	{
441	NaviDataOkay--;	440	NaviDataOkay--;
442	FCFlags &= ~FCFLAG_SPI_RX_ERR;	441	FCFlags &= ~FCFLAG_SPI_RX_ERR;
443	}	442	}
444	else	443	else
445	{	444	{
446	GPS_Nick = 0;	445	GPS_Nick = 0;
447	GPS_Roll = 0;	446	GPS_Roll = 0;
448	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;	447	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;
449	}	448	}
450	if(UBat < BattLowVoltageWarning)	449	if(UBat < BattLowVoltageWarning)
451	{	450	{
452	FCFlags \|= FCFLAG_LOWBAT;	451	FCFlags \|= FCFLAG_LOWBAT;
453	if(BeepMuster == 0xffff)	452	if(BeepMuster == 0xffff)
454	{	453	{
455	beeptime = 6000;	454	beeptime = 6000;
456	BeepMuster = 0x0300;	455	BeepMuster = 0x0300;
457	}	456	}
458	}	457	}
459	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;	458	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
460		459
461	SPI_StartTransmitPacket();	460	SPI_StartTransmitPacket();
462	SendSPI = 4;	461	SendSPI = 4;
463		462
464	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden	463	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
465		464
466	if(++timer2 == 2930) // eine Minute	465	if(++timer2 == 2930) // eine Minute
467	{	466	{
468	timer2 = 0;	467	timer2 = 0;
469	FlugMinuten++;	468	FlugMinuten++;
470	FlugMinutenGesamt++;	469	FlugMinutenGesamt++;
471	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);	470	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);
472	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);	471	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);
473	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);	472	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);
474	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);	473	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);
475	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	474	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
476	}	475	}
477	}	476	}
478	LED_Update();	477	LED_Update();
479	Capacity_Update();	478	Capacity_Update();
480	}	479	}
481	if(!SendSPI) { SPI_TransmitByte(); }	480	if(!SendSPI) { SPI_TransmitByte(); }
482	}	481	}
483	return (1);	482	return (1);
484	}	483	}
485		484
486		485
487		486

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_var_motorsmoothing/main.c @ 2012 - Rev 1501 → 1506