WebSVN - FlightCtrl - Diff - Rev 1603 and 1622 - /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 PlatinenVersion = 10;
 unsigned char SendVersionToNavi = 1;
 unsigned char BattLowVoltageWarning = 94;
 unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
 unsigned int FlugSekunden = 0;
 pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
-// -- Parametersatz aus EEPROM lesen ---
-// number [1..5]
-void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
-{
-   if((number > 5)||(number < 1)) number = 3;
-   eeprom_read_block(buffer, (void*)(EEPROM_ADR_PARAM_BEGIN + length * (number - 1)), length);
-   LED_Init();
-}
-// -- Parametersatz ins EEPROM schreiben ---
-// number [1..5]
-void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
-{
-   if(number > 5) number = 5;
-   if(number < 1) return;
-   eeprom_write_block(buffer, (void*)(EEPROM_ADR_PARAM_BEGIN + length * (number - 1)), length);
-   eeprom_write_byte((unsigned char*)(EEPROM_ADR_PARAM_LENGTH), length); // Länge der Datensätze merken
-   eeprom_write_block(buffer, (void*)(EEPROM_ADR_CHANNELS), 12); // 12 Kanäle merken
-   SetActiveParamSetNumber(number);
-   LED_Init();
-}
-unsigned char GetActiveParamSetNumber(void)
-{
-        unsigned char set;
-        set = eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET));
-        if((set > 5) || (set < 1))
-        {
-                set = 3;
-                SetActiveParamSetNumber(set);                           // diesen Parametersatz als aktuell merken
-        }
-        return(set);
-}
-void SetActiveParamSetNumber(unsigned char number)
-{
-        if(number > 5) number = 5;
-        if(number < 1) return;
-        eeprom_write_byte((unsigned char*)(EEPROM_ADR_ACTIVE_SET), number);                             // diesen Parametersatz als aktuell merken
-}
 void CalMk3Mag(void)
+{
  static unsigned char stick = 1;
  if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
+  {
    stick = 1;
    WinkelOut.CalcState++;
    if(WinkelOut.CalcState > 4)
+    {
 //     WinkelOut.CalcState = 0; // in Uart.c
      beeptime = 1000;
+    }
    else Piep(WinkelOut.CalcState,150);
+  }
   DebugOut.Analog[19] = WinkelOut.CalcState;
+}
 void LipoDetection(unsigned char print)
+{
    unsigned int timer;
    if(print) printf("\n\rBatt:");
    if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
+    {
          timer = SetDelay(500);
          if(print) while (!CheckDelay(timer));
          if(UBat < 130)
+          {
            BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
            if(print)
+            {
                  Piep(3,200);
              printf(" 3 Cells  ");
+                }
+          }
          else
+          {
            BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
            if(print)
+            {
                  Piep(4,200);
              printf(" 4 Cells  ");
+                }
+          }
+    }
     else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
 //      if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
    if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
+}
 //############################################################################
 //Hauptprogramm
 int main (void)
 //############################################################################
+{
         unsigned int timer,i,timer2 = 0, timerPolling;
-        unsigned char RequiredMotors = 0;
     DDRB  = 0x00;
     PORTB = 0x00;
     for(timer = 0; timer < 1000; timer++); // verzögern
     if(PINB & 0x01)
+     {
       if(PINB & 0x02) PlatinenVersion = 13;
        else           PlatinenVersion = 11;
+     }
     else
+     {
       if(PINB & 0x02) PlatinenVersion = 20;
        else           PlatinenVersion = 10;
+     }
     DDRC  = 0x81; // SCL
     DDRC  |=0x40; // HEF4017 Reset
     PORTC = 0xff; // Pullup SDA
     DDRB  = 0x1B; // LEDs und Druckoffset
     PORTB = 0x01; // LED_Rot
     DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
         PORTD = 0x47; // LED
     HEF4017R_ON;
     MCUSR &=~(1<<WDRF);
     WDTCSR |= (1<<WDCE)|(1<<WDE);
     WDTCSR = 0;
     beeptime = 2000;
         StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
     if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
     ROT_OFF;
     Timer_Init();
         TIMER2_Init();
         UART_Init();
     rc_sum_init();
         ADC_Init();
         i2c_init();
         SPI_MasterInit();
         Capacity_Init();
         LIBFC_Init();
         GRN_ON;
     sei();
-        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
+        ParamSet_Init();
-    if((eeprom_read_byte((unsigned char*)(EEPROM_ADR_MIXER_TABLE)) == MIXER_REVISION) && // Check Revision in the first Byte
-       (eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != 0xff))                   // Settings reset via Koptertool
-        {
-     unsigned char i;
-     eeprom_read_block(&Mixer, (unsigned char*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer));
-     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
-        }
-        else // default
-        {
-     unsigned char i;
-         printf("\n\rGenerating default Mixer Table");
-         for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;};
-     // default = Quadro
-     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
-     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
-     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
-     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
-         Mixer.Revision = MIXER_REVISION;
-     memcpy(Mixer.Name, "Quadro\0", 11);
-     eeprom_write_block(&Mixer, (void*)(EEPROM_ADR_MIXER_TABLE), sizeof(Mixer));
-    }
     printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Check connected BL-Ctrls
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
     motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
         printf("\n\rFound BL-Ctrl: ");
     timer = SetDelay(4000);
         for(i=0; i < MAX_MOTORS; i++)
-         {
+        {
-          UpdateMotor = 0;
+                UpdateMotor = 0;
-      SendMotorData();
+                SendMotorData();
-          while(!UpdateMotor);
+                while(!UpdateMotor);
-      if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
+                if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
-        {
+                {
-             while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
+                        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);
+                if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) printf("%d ",i+1);
-     }
+        }
         for(i=0; i < MAX_MOTORS; i++)
-         {
-          if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
-           {
-            printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
-                ServoActive = 1; // just in case the FC would be used as camera-stabilizer
-           }
-          Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
-     }
-        printf("\n\r===================================");
-    SendMotorData();
-//printf("\n size: %u",STRUCT_PARAM_LAENGE);
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Check Settings
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_VALID)) != EE_DATENREVISION)
+        {
-          DefaultKonstanten1();
-          printf("\n\rInit. EEPROM");
-          for (unsigned char i=1;i<6;i++)
-      {
-       if(i==2) DefaultKonstanten2(); // Kamera
-       if(i==3) DefaultKonstanten3(); // Beginner
+                if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
-       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;
+                        printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
-         EE_Parameter.WinkelUmschlagRoll = 78;
+                        ServoActive = 1; // just in case the FC would be used as camera-stabilizer
+                }
-    // valid Stick-Settings?
-           if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+1)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+2)) < 12 && eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+3)) < 12)
+                Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
-            {
-         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+0));
-         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+1));
-         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+2));
-         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+3));
-         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+4));
-         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+5));
-         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+6));
-         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+7));
-         if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8)) < 0xFF)
-                  {
-                   EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+8));
-           EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+9));
-           EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+10));
-           EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte((unsigned char*)(EEPROM_ADR_CHANNELS+11));
-                  }
-                  else
-                  {
-           EE_Parameter.Kanalbelegung[K_POTI5] = 9;
-           EE_Parameter.Kanalbelegung[K_POTI6] = 10;
-           EE_Parameter.Kanalbelegung[K_POTI7] = 11;
-           EE_Parameter.Kanalbelegung[K_POTI8] = 12;
-                  }
-         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
-                } else DefaultStickMapping();
-       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
-      }
-          SetActiveParamSetNumber(3); // default-Setting
-          eeprom_write_byte((unsigned char*)(EEPROM_ADR_VALID), EE_DATENREVISION);
+        }
-    FlugMinuten = (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES2)) * 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1));
-    FlugMinutenGesamt = (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES)) * 256 + (int)eeprom_read_byte((unsigned char*)(EEPROM_ADR_MINUTES+1));
-    if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff)
+        printf("\n\r===================================");
-         {
-          FlugMinuten = 0;
+    SendMotorData();
-          FlugMinutenGesamt = 0;
-         }
-    printf("\n\rFlight-time %u min  Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
-    if(eeprom_read_byte((unsigned char*)(EEPROM_ADR_ACC_NICK)) > 4)
-     {
-       printf("\n\rACC not calibrated !");
-     }
-        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
-    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
         //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
-         {
+        {
-           printf("\n\rCalibrating pressure sensor..");
+                printf("\n\rCalibrating pressure sensor..");
-           timer = SetDelay(1000);
+                timer = SetDelay(1000);
-       SucheLuftruckOffset();
+                SucheLuftruckOffset();
-           while (!CheckDelay(timer));
+                while (!CheckDelay(timer));
-       printf("OK\n\r");
+                printf("OK\n\r");
         }
-        SetNeutral();
+        SetNeutral(0);
         ROT_OFF;
     beeptime = 2000;
     ExternControl.Digital[0] = 0x55;
+        FlugMinuten = GetParamWord(PID_FLIGHT_MINUTES);
+        FlugMinutenGesamt = GetParamWord(PID_FLIGHT_MINUTES_TOTAL);
+        if( (FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF) )
+        {
+                FlugMinuten = 0;
+                FlugMinutenGesamt = 0;
+        }
+    printf("\n\rFlight-time %u min  Total:%u min", FlugMinuten, FlugMinutenGesamt);
         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();
+        //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
                                 PPM_in[0] = 0; // set RSSI to zero on data timeout
+                        }
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
 //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
             if(!--I2CTimeout || MissingMotor)
+                {
                   if(!I2CTimeout)
+                                   {
                                     i2c_reset();
                     I2CTimeout = 5;
                                         DebugOut.Analog[28]++; // I2C-Error
                                         FCFlags |= FCFLAG_I2CERR;
+                                   }
                   if((BeepMuster == 0xffff) && MotorenEin)
+                   {
                     beeptime = 10000;
                     BeepMuster = 0x0080;
+                   }
+                }
             else
+                {
                  ROT_OFF;
                                  if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
+                }
             if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
+              {
                DatenUebertragung();
                BearbeiteRxDaten();
+              }
                         else BearbeiteRxDaten();
                         if(CheckDelay(timer))
+                        {
                                 static unsigned char second;
                                 timer += 20; // 20 ms interval
                                 if(PcZugriff) PcZugriff--;
                                 else
+                                {
                                         ExternControl.Config = 0;
                                         ExternStickNick = 0;
                                         ExternStickRoll = 0;
                                         ExternStickGier = 0;
                                         if(BeepMuster == 0xffff && SenderOkay == 0)
+                                        {
                                                 beeptime = 15000;
                                                 BeepMuster = 0x0c00;
+                                        }
+                                }
                                 if(NaviDataOkay)
+                                {
                                         NaviDataOkay--;
                                         FCFlags &= ~FCFLAG_SPI_RX_ERR;
+                                }
                                 else
+                                {
                                         GPS_Nick = 0;
                                         GPS_Roll = 0;
                                         if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR;
+                                }
                            if(UBat < BattLowVoltageWarning)
+                                {
                                         FCFlags |= FCFLAG_LOWBAT;
                                         if(BeepMuster == 0xffff)
+                                        {
                                                 beeptime = 6000;
                                                 BeepMuster = 0x0300;
+                                        }
+                                }
                                 else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
                                 SPI_StartTransmitPacket();
                                 SendSPI = 4;
                                 if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
                                 else
                 if(++second == 49)
+                                 {
                                    second = 0;
                                    FlugSekunden++;
+                                 }
                                 if(++timer2 == 2930)  // eine Minute
+                                 {
                                    timer2 = 0;
                    FlugMinuten++;
                        FlugMinutenGesamt++;
-                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2),FlugMinuten / 256);
+                       SetParamWord(PID_FLIGHT_MINUTES_TOTAL, FlugMinutenGesamt);
-                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES2+1),FlugMinuten % 256);
+                                   SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten);
-                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES),FlugMinutenGesamt / 256);
-                   eeprom_write_byte((unsigned char*)(EEPROM_ADR_MINUTES+1),FlugMinutenGesamt % 256);
                                    timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
+                             }
+                        }
            LED_Update();
            Capacity_Update();
+          }
      if(!SendSPI) { SPI_TransmitByte(); }
+    }
  return (1);
+}

Subversion Repositories FlightCtrl

(root)/branches/V0.84a_var_motorsmoothing/main.c @ 2014 - Rev 1603 → 1622