WebSVN - FlightCtrl - Diff - Rev 1423 and 1424 - /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;
// -- 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();
 
 
 
 
 
    InitFC();
   
        sei();
        printf("\n\r===================================");
        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
        printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware");
        printf("\n\rwww.MikroKopter.de (c) HiSystems GmbH");
        printf("\n\r===================================");
 
        GRN_ON;
        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);
        printf("\n\r===================================\n\r");
//SpektrumBinding();
    timer = SetDelay(2000);
        timerPolling = SetDelay(250);
        while (1)
        {
 
        if(CheckDelay(timerPolling))
        {
          timerPolling = SetDelay(100);
          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 1423	Rev 1424
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	unsigned char EEPromArray[E2END+1] EEMEM;	54	unsigned char EEPromArray[E2END+1] EEMEM;
55	unsigned char PlatinenVersion = 10;	55	unsigned char PlatinenVersion = 10;
56	unsigned char SendVersionToNavi = 1;	56	unsigned char SendVersionToNavi = 1;
57	unsigned char BattLowVoltageWarning = 94;	57	unsigned char BattLowVoltageWarning = 94;
58	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;	58	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
59	// -- Parametersatz aus EEPROM lesen ---	59	// -- Parametersatz aus EEPROM lesen ---
60	// number [1..5]	60	// number [1..5]
61	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	61	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
62	{	62	{
63	if((number > 5)\|\|(number < 1)) number = 3;	63	if((number > 5)\|\|(number < 1)) number = 3;
64	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	64	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
65	LED_Init();	65	LED_Init();
66	}	66	}
67		67
68	// -- Parametersatz ins EEPROM schreiben ---	68	// -- Parametersatz ins EEPROM schreiben ---
69	// number [1..5]	69	// number [1..5]
70	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	70	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
71	{	71	{
72	if(number > 5) number = 5;	72	if(number > 5) number = 5;
73	if(number < 1) return;	73	if(number < 1) return;
74	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	74	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
75	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken	75	eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken
76	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 12); // 12 Kanäle merken	76	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 12); // 12 Kanäle merken
77	SetActiveParamSetNumber(number);	77	SetActiveParamSetNumber(number);
78	LED_Init();	78	LED_Init();
79	}	79	}
80		80
81	unsigned char GetActiveParamSetNumber(void)	81	unsigned char GetActiveParamSetNumber(void)
82	{	82	{
83	unsigned char set;	83	unsigned char set;
84	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);	84	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
85	if((set > 5) \|\| (set < 1))	85	if((set > 5) \|\| (set < 1))
86	{	86	{
87	set = 3;	87	set = 3;
88	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken	88	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken
89	}	89	}
90	return(set);	90	return(set);
91	}	91	}
92		92
93	void SetActiveParamSetNumber(unsigned char number)	93	void SetActiveParamSetNumber(unsigned char number)
94	{	94	{
95	if(number > 5) number = 5;	95	if(number > 5) number = 5;
96	if(number < 1) return;	96	if(number < 1) return;
97	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken	97	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken
98	}	98	}
99		99
100		100
101	void CalMk3Mag(void)	101	void CalMk3Mag(void)
102	{	102	{
103	static unsigned char stick = 1;	103	static unsigned char stick = 1;
104		104
105	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	105	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
106	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	106	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
107	{	107	{
108	stick = 1;	108	stick = 1;
109	WinkelOut.CalcState++;	109	WinkelOut.CalcState++;
110	if(WinkelOut.CalcState > 4)	110	if(WinkelOut.CalcState > 4)
111	{	111	{
112	// WinkelOut.CalcState = 0; // in Uart.c	112	// WinkelOut.CalcState = 0; // in Uart.c
113	beeptime = 1000;	113	beeptime = 1000;
114	}	114	}
115	else Piep(WinkelOut.CalcState,150);	115	else Piep(WinkelOut.CalcState,150);
116	}	116	}
117	DebugOut.Analog[19] = WinkelOut.CalcState;	117	DebugOut.Analog[19] = WinkelOut.CalcState;
118	}	118	}
119		119
120	void LipoDetection(unsigned char print)	120	void LipoDetection(unsigned char print)
121	{	121	{
122	unsigned int timer;	122	unsigned int timer;
123	if(print) printf("\n\rBatt:");	123	if(print) printf("\n\rBatt:");
124	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	124	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
125	{	125	{
126	timer = SetDelay(500);	126	timer = SetDelay(500);
127	if(print) while (!CheckDelay(timer));	127	if(print) while (!CheckDelay(timer));
128	if(UBat < 130)	128	if(UBat < 130)
129	{	129	{
130	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;	130	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
131	if(print)	131	if(print)
132	{	132	{
133	Piep(3,200);	133	Piep(3,200);
134	printf(" 3 Cells ");	134	printf(" 3 Cells ");
135	}	135	}
136	}	136	}
137	else	137	else
138	{	138	{
139	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;	139	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
140	if(print)	140	if(print)
141	{	141	{
142	Piep(4,200);	142	Piep(4,200);
143	printf(" 4 Cells ");	143	printf(" 4 Cells ");
144	}	144	}
145	}	145	}
146	}	146	}
147	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	147	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
148	// if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;	148	// if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
149	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	149	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
150	}	150	}
151		151
152	//############################################################################	152	//############################################################################
153	//Hauptprogramm	153	//Hauptprogramm
154	int main (void)	154	int main (void)
155	//############################################################################	155	//############################################################################
156	{	156	{
157	unsigned int timer,i,timer2 = 0, timerJeti;	157	unsigned int timer,i,timer2 = 0, timerPolling;
158	DDRB = 0x00;	158	DDRB = 0x00;
159	PORTB = 0x00;	159	PORTB = 0x00;
160	for(timer = 0; timer < 1000; timer++); // verzögern	160	for(timer = 0; timer < 1000; timer++); // verzögern
161	if(PINB & 0x01)	161	if(PINB & 0x01)
162	{	162	{
163	if(PINB & 0x02) PlatinenVersion = 13;	163	if(PINB & 0x02) PlatinenVersion = 13;
164	else PlatinenVersion = 11;	164	else PlatinenVersion = 11;
165	}	165	}
166	else	166	else
167	{	167	{
168	if(PINB & 0x02) PlatinenVersion = 20;	168	if(PINB & 0x02) PlatinenVersion = 20;
169	else PlatinenVersion = 10;	169	else PlatinenVersion = 10;
170	}	170	}
171		171
172	DDRC = 0x81; // SCL	172	DDRC = 0x81; // SCL
173	DDRC \|=0x40; // HEF4017 Reset	173	DDRC \|=0x40; // HEF4017 Reset
174	PORTC = 0xff; // Pullup SDA	174	PORTC = 0xff; // Pullup SDA
175	DDRB = 0x1B; // LEDs und Druckoffset	175	DDRB = 0x1B; // LEDs und Druckoffset
176	PORTB = 0x01; // LED_Rot	176	PORTB = 0x01; // LED_Rot
177	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	177	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
178	PORTD = 0x47; // LED	178	PORTD = 0x47; // LED
179	HEF4017R_ON;	179	HEF4017R_ON;
180	MCUSR &=~(1<<WDRF);	180	MCUSR &=~(1<<WDRF);
181	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	181	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
182	WDTCSR = 0;	182	WDTCSR = 0;
183		183
184	beeptime = 2000;	184	beeptime = 2000;
185	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;	185	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
186	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	186	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
187	ROT_OFF;	187	ROT_OFF;
188		188
189	Timer_Init();	189	Timer_Init();
190	TIMER2_Init();	190	TIMER2_Init();
191	UART_Init();	191	UART_Init();
192	rc_sum_init();	192	rc_sum_init();
193	ADC_Init();	193	ADC_Init();
194	i2c_init();	194	i2c_init();
195	SPI_MasterInit();	195	SPI_MasterInit();
196		-
197	if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P	-
198	{	196
199	//Uart1Init();	-
200	JetiBoxUartInit();	-
201	}	197	InitFC();
202		198
203	sei();	199	sei();
204	printf("\n\r===================================");	200	printf("\n\r===================================");
205	printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');	201	printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
206	printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware");	202	printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware");
207	printf("\n\rwww.MikroKopter.de (c) HiSystems GmbH");	203	printf("\n\rwww.MikroKopter.de (c) HiSystems GmbH");
208	printf("\n\r===================================");	204	printf("\n\r===================================");
209		205
210	GRN_ON;	206	GRN_ON;
211	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes	207	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
212	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte	208	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	209	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool
214	{	210	{
215	unsigned char i;	211	unsigned char i;
216	RequiredMotors = 0;	212	RequiredMotors = 0;
217	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	213	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
218	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}	214	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
219	}	215	}
220	else // default	216	else // default
221	{	217	{
222	unsigned char i;	218	unsigned char i;
223	printf("\n\rGenerating default Mixer Table");	219	printf("\n\rGenerating default Mixer Table");
224	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	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;};
225	// default = Quadro	221	// default = Quadro
226	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;	222	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;
227	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;	223	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;
228	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;	224	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
229	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;	225	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
230	Mixer.Revision = MIXER_REVISION;	226	Mixer.Revision = MIXER_REVISION;
231	memcpy(Mixer.Name, "Quadro\0", 11);	227	memcpy(Mixer.Name, "Quadro\0", 11);
232	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	228	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
233	}	229	}
234	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);	230	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
235	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	231	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
236	// + Check connected BL-Ctrls	232	// + Check connected BL-Ctrls
237	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	233	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
238	printf("\n\rFound BL-Ctrl: ");	234	printf("\n\rFound BL-Ctrl: ");
239	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data	235	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data
240	timer = SetDelay(2000);	236	timer = SetDelay(2000);
241		237
242		238
243	for(i=0; i < MAX_MOTORS; i++)	239	for(i=0; i < MAX_MOTORS; i++)
244	{	240	{
245	UpdateMotor = 0;	241	UpdateMotor = 0;
246	SendMotorData();	242	SendMotorData();
247	while(!UpdateMotor);	243	while(!UpdateMotor);
248	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up	244	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
249	{	245	{
250	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};	246	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
251	}	247	}
252	if(MotorPresent[i]) printf("%d ",i+1);	248	if(MotorPresent[i]) printf("%d ",i+1);
253	}	249	}
254	for(i=0; i < MAX_MOTORS; i++)	250	for(i=0; i < MAX_MOTORS; i++)
255	{	251	{
256	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)	252	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)
257	{	253	{
258	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	254	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
259	ServoActive = 1; // just in case the FC would be used as camera-stabilizer	255	ServoActive = 1; // just in case the FC would be used as camera-stabilizer
260	}	256	}
261	MotorError[i] = 0;	257	MotorError[i] = 0;
262	}	258	}
263	printf("\n\r===================================");	259	printf("\n\r===================================");
264	SendMotorData();	260	SendMotorData();
265	//printf("\n size: %u",STRUCT_PARAM_LAENGE);	261	//printf("\n size: %u",STRUCT_PARAM_LAENGE);
266		262
267	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	263	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
268	// + Check Settings	264	// + Check Settings
269	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	265	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
270	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)	266	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
271	{	267	{
272	DefaultKonstanten1();	268	DefaultKonstanten1();
273	printf("\n\rInit. EEPROM");	269	printf("\n\rInit. EEPROM");
274	for (unsigned char i=1;i<6;i++)	270	for (unsigned char i=1;i<6;i++)
275	{	271	{
276	if(i==2) DefaultKonstanten2(); // Kamera	272	if(i==2) DefaultKonstanten2(); // Kamera
277	if(i==3) DefaultKonstanten3(); // Beginner	273	if(i==3) DefaultKonstanten3(); // Beginner
278	if(i>3) DefaultKonstanten2(); // Kamera	274	if(i>3) DefaultKonstanten2(); // Kamera
279	if(PlatinenVersion >= 20)	275	if(PlatinenVersion >= 20)
280	{	276	{
281	EE_Parameter.Gyro_D = 5;	277	EE_Parameter.Gyro_D = 5;
282	EE_Parameter.Driftkomp = 0;	278	EE_Parameter.Driftkomp = 0;
283	EE_Parameter.GyroAccFaktor = 27;	279	EE_Parameter.GyroAccFaktor = 27;
284	EE_Parameter.WinkelUmschlagNick = 78;	280	EE_Parameter.WinkelUmschlagNick = 78;
285	EE_Parameter.WinkelUmschlagRoll = 78;	281	EE_Parameter.WinkelUmschlagRoll = 78;
286	}	282	}
287	// valid Stick-Settings?	283	// valid Stick-Settings?
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)	284	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)
289	{	285	{
290	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);	286	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
291	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);	287	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
292	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);	288	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
293	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);	289	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
294	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);	290	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
295	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);	291	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
296	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);	292	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
297	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);	293	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
298		294
299	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)	295	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)
300	{	296	{
301	EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);	297	EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);
302	EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);	298	EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);
303	EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);	299	EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);
304	EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);	300	EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);
305	}	301	}
306	else	302	else
307	{	303	{
308	EE_Parameter.Kanalbelegung[K_POTI5] = 9;	304	EE_Parameter.Kanalbelegung[K_POTI5] = 9;
309	EE_Parameter.Kanalbelegung[K_POTI6] = 10;	305	EE_Parameter.Kanalbelegung[K_POTI6] = 10;
310	EE_Parameter.Kanalbelegung[K_POTI7] = 11;	306	EE_Parameter.Kanalbelegung[K_POTI7] = 11;
311	EE_Parameter.Kanalbelegung[K_POTI8] = 12;	307	EE_Parameter.Kanalbelegung[K_POTI8] = 12;
312	}	308	}
313	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");	309	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
314	} else DefaultStickMapping();	310	} else DefaultStickMapping();
315	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	311	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
316	}	312	}
317	SetActiveParamSetNumber(3); // default-Setting	313	SetActiveParamSetNumber(3); // default-Setting
318	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);	314	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
319	}	315	}
320		316
321	FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);	317	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]);	318	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)	319	if(FlugMinutenGesamt == 0xffff \|\| FlugMinuten == 0xffff)
324	{	320	{
325	FlugMinuten = 0;	321	FlugMinuten = 0;
326	FlugMinutenGesamt = 0;	322	FlugMinutenGesamt = 0;
327	}	323	}
328	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);	324	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
329		325
330	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)	326	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
331	{	327	{
332	printf("\n\rACC not calibrated !");	328	printf("\n\rACC not calibrated !");
333	}	329	}
334		330
335	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	331	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
336	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());	332	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
337		333
338		334
339	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	335	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
340	{	336	{
341	printf("\n\rCalibrating pressure sensor..");	337	printf("\n\rCalibrating pressure sensor..");
342	timer = SetDelay(1000);	338	timer = SetDelay(1000);
343	SucheLuftruckOffset();	339	SucheLuftruckOffset();
344	while (!CheckDelay(timer));	340	while (!CheckDelay(timer));
345	printf("OK\n\r");	341	printf("OK\n\r");
346	}	342	}
347		343
348	SetNeutral();	344	SetNeutral();
349		345
350	ROT_OFF;	346	ROT_OFF;
351		347
352	beeptime = 2000;	348	beeptime = 2000;
353	ExternControl.Digital[0] = 0x55;	349	ExternControl.Digital[0] = 0x55;
354		350
355		351
356	printf("\n\rControl: ");	352	printf("\n\rControl: ");
357	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	353	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
358	else printf("Normal (ACC-Mode)");	354	else printf("Normal (ACC-Mode)");
359		355
360	LcdClear();	356	LcdClear();
361	I2CTimeout = 5000;	357	I2CTimeout = 5000;
362	WinkelOut.Orientation = 1;	358	WinkelOut.Orientation = 1;
363	LipoDetection(1);	359	LipoDetection(1);
364	printf("\n\r===================================\n\r");	360	printf("\n\r===================================\n\r");
365	//SpektrumBinding();	361	//SpektrumBinding();
366	timer = SetDelay(2000);	362	timer = SetDelay(2000);
367	timerJeti = SetDelay(250);	363	timerPolling = SetDelay(250);
368	while (1)	364	while (1)
369	{	365	{
370		366
371	if(CheckDelay(timerJeti))	367	if(CheckDelay(timerPolling))
372	{	368	{
373	timerJeti = SetDelay(100);	369	timerPolling = SetDelay(100);
374	JetiBoxPolling();	370	Polling();
375	}	371	}
376		372
377	if(UpdateMotor && AdReady) // ReglerIntervall	373	if(UpdateMotor && AdReady) // ReglerIntervall
378	{	374	{
379	UpdateMotor=0;	375	UpdateMotor=0;
380	if(WinkelOut.CalcState) CalMk3Mag();	376	if(WinkelOut.CalcState) CalMk3Mag();
381	else MotorRegler();	377	else MotorRegler();
382	SendMotorData();	378	SendMotorData();
383	ROT_OFF;	379	ROT_OFF;
384	if(SenderOkay) SenderOkay--;	380	if(SenderOkay) SenderOkay--;
385	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	381	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
386	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	382	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
387	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	383	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
388	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	384	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
389	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	385	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
390		386
391	if(!--I2CTimeout \|\| MissingMotor)	387	if(!--I2CTimeout \|\| MissingMotor)
392	{	388	{
393	if(!I2CTimeout)	389	if(!I2CTimeout)
394	{	390	{
395	i2c_reset();	391	i2c_reset();
396	I2CTimeout = 5;	392	I2CTimeout = 5;
397	DebugOut.Analog[28]++; // I2C-Error	393	DebugOut.Analog[28]++; // I2C-Error
398	FCFlags \|= FCFLAG_I2CERR;	394	FCFlags \|= FCFLAG_I2CERR;
399	}	395	}
400	if((BeepMuster == 0xffff) && MotorenEin)	396	if((BeepMuster == 0xffff) && MotorenEin)
401	{	397	{
402	beeptime = 10000;	398	beeptime = 10000;
403	BeepMuster = 0x0080;	399	BeepMuster = 0x0080;
404	}	400	}
405	}	401	}
406	else	402	else
407	{	403	{
408	ROT_OFF;	404	ROT_OFF;
409	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;	405	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
410	}	406	}
411	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))	407	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))
412	{	408	{
413	DatenUebertragung();	409	DatenUebertragung();
414	BearbeiteRxDaten();	410	BearbeiteRxDaten();
415	}	411	}
416	else BearbeiteRxDaten();	412	else BearbeiteRxDaten();
417	if(CheckDelay(timer))	413	if(CheckDelay(timer))
418	{	414	{
419	timer += 20; // 20 ms interval	415	timer += 20; // 20 ms interval
420	if(PcZugriff) PcZugriff--;	416	if(PcZugriff) PcZugriff--;
421	else	417	else
422	{	418	{
423	ExternControl.Config = 0;	419	ExternControl.Config = 0;
424	ExternStickNick = 0;	420	ExternStickNick = 0;
425	ExternStickRoll = 0;	421	ExternStickRoll = 0;
426	ExternStickGier = 0;	422	ExternStickGier = 0;
427	if(BeepMuster == 0xffff && SenderOkay == 0)	423	if(BeepMuster == 0xffff && SenderOkay == 0)
428	{	424	{
429	beeptime = 15000;	425	beeptime = 15000;
430	BeepMuster = 0x0c00;	426	BeepMuster = 0x0c00;
431	}	427	}
432	}	428	}
433	if(NaviDataOkay)	429	if(NaviDataOkay)
434	{	430	{
435	NaviDataOkay--;	431	NaviDataOkay--;
436	FCFlags &= ~FCFLAG_SPI_RX_ERR;	432	FCFlags &= ~FCFLAG_SPI_RX_ERR;
437	}	433	}
438	else	434	else
439	{	435	{
440	GPS_Nick = 0;	436	GPS_Nick = 0;
441	GPS_Roll = 0;	437	GPS_Roll = 0;
442	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;	438	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;
443	}	439	}
444	if(UBat < BattLowVoltageWarning)	440	if(UBat < BattLowVoltageWarning)
445	{	441	{
446	FCFlags \|= FCFLAG_LOWBAT;	442	FCFlags \|= FCFLAG_LOWBAT;
447	if(BeepMuster == 0xffff)	443	if(BeepMuster == 0xffff)
448	{	444	{
449	beeptime = 6000;	445	beeptime = 6000;
450	BeepMuster = 0x0300;	446	BeepMuster = 0x0300;
451	}	447	}
452	}	448	}
453	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;	449	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
454		450
455	SPI_StartTransmitPacket();	451	SPI_StartTransmitPacket();
456	SendSPI = 4;	452	SendSPI = 4;
457		453
458	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden	454	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
459		455
460	if(++timer2 == 2930) // eine Minute	456	if(++timer2 == 2930) // eine Minute
461	{	457	{
462	timer2 = 0;	458	timer2 = 0;
463	FlugMinuten++;	459	FlugMinuten++;
464	FlugMinutenGesamt++;	460	FlugMinutenGesamt++;
465	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);	461	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);
466	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);	462	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);
467	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);	463	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);
468	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);	464	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);
469	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	465	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
470	}	466	}
471	}	467	}
472	LED_Update();	468	LED_Update();
473	}	469	}
474	if(!SendSPI) { SPI_TransmitByte(); }	470	if(!SendSPI) { SPI_TransmitByte(); }
475	}	471	}
476	return (1);	472	return (1);
477	}	473	}
478		474
479		475
480		476

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_var_motorsmoothing/main.c @ 2014 - Rev 1423 → 1424