WebSVN - FlightCtrl - Diff - Rev 1424 and 1431 - /branches/V0.88n_ACC-HH_HR


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt und genannt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
unsigned char EEPromArray[E2END+1] EEMEM;
unsigned char PlatinenVersion = 10;
unsigned char SendVersionToNavi = 1;
unsigned char BattLowVoltageWarning = 94;
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
// -- 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();
 
 
 
 
 
 
 
   
   
        GRN_ON;
    sei();
 
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
       
       
    if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
       (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff))                   // Settings reset via Koptertool
        {
     unsigned char i;
         RequiredMotors = 0;
     eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
        }
        else // default
        {
     unsigned char i;
         printf("\n\rGenerating default Mixer Table");
         for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;};
     // default = Quadro
     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
         Mixer.Revision = MIXER_REVISION;
     memcpy(Mixer.Name, "Quadro\0", 11);
     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
    }
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
       
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        printf("\n\rFound BL-Ctrl: ");
    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
    timer = SetDelay(2000);
 
 
        for(i=0; i < MAX_MOTORS; i++)
         {
          UpdateMotor = 0;
      SendMotorData();
          while(!UpdateMotor);
      if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
        {
             while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
                }
          if(MotorPresent[i]) printf("%d ",i+1);
     }
        for(i=0; i < MAX_MOTORS; i++)
         {
          if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)
           {
            printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
                ServoActive = 1; // just in case the FC would be used as camera-stabilizer
           }
          MotorError[i] = 0;
     }
        printf("\n\r===================================");
    SendMotorData();
//printf("\n size: %u",STRUCT_PARAM_LAENGE);
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check Settings
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
        {
          DefaultKonstanten1();
          printf("\n\rInit. EEPROM");
          for (unsigned char i=1;i<6;i++)
      {
       if(i==2) DefaultKonstanten2(); // Kamera
       if(i==3) DefaultKonstanten3(); // Beginner
       if(i>3)  DefaultKonstanten2(); // Kamera
           if(PlatinenVersion >= 20)
            {
                 EE_Parameter.Gyro_D = 5;
                 EE_Parameter.Driftkomp = 0;
                 EE_Parameter.GyroAccFaktor = 27;
         EE_Parameter.WinkelUmschlagNick = 78;
         EE_Parameter.WinkelUmschlagRoll = 78;
                }
    // valid Stick-Settings?
           if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12)
            {
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
 
         if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)
                  {
                   EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);
           EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);
           EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);
           EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);
                  }
                  else
                  {
           EE_Parameter.Kanalbelegung[K_POTI5] = 9;
           EE_Parameter.Kanalbelegung[K_POTI6] = 10;
           EE_Parameter.Kanalbelegung[K_POTI7] = 11;
           EE_Parameter.Kanalbelegung[K_POTI8] = 12;
                  }
         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
                } else DefaultStickMapping();
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
      }
          SetActiveParamSetNumber(3); // default-Setting
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
        }
       
   
     
    FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
    FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);
    if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff)
         {
          FlugMinuten = 0;
          FlugMinutenGesamt = 0;
         }
    printf("\n\rFlight-time %u min  Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
 
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
     {
       printf("\n\rACC not calibrated !");
     }
 
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
 
 
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
         {
           printf("\n\rCalibrating pressure sensor..");
           timer = SetDelay(1000);
       SucheLuftruckOffset();
           while (!CheckDelay(timer));
       printf("OK\n\r");
        }
 
        SetNeutral();
 
        ROT_OFF;
 
    beeptime = 2000;
    ExternControl.Digital[0] = 0x55;
 
 
        printf("\n\rControl: ");
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
        else printf("Normal (ACC-Mode)");
 
    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    LipoDetection(1);
       
         InitReceiver();
        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 1424	Rev 1431
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, timerPolling;	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		196
-		197	InitFC();
197	InitFC();	-
198		-
199	sei();	-
200	printf("\n\r===================================");	-
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');	-
202	printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware");	-
203	printf("\n\rwww.MikroKopter.de (c) HiSystems GmbH");	-
204	printf("\n\r===================================");	198
-		199
-		200	GRN_ON;
205		201	sei();
-		202
-		203	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
206	GRN_ON;	204
207	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes	205
208	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte	206	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
209	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool	207	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool
210	{	208	{
211	unsigned char i;	209	unsigned char i;
212	RequiredMotors = 0;	210	RequiredMotors = 0;
213	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	211	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
214	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}	212	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
215	}	213	}
216	else // default	214	else // default
217	{	215	{
218	unsigned char i;	216	unsigned char i;
219	printf("\n\rGenerating default Mixer Table");	217	printf("\n\rGenerating default Mixer Table");
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;};	218	for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;};
221	// default = Quadro	219	// default = Quadro
222	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;	220	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;
223	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;	221	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;
224	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;	222	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
225	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;	223	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
226	Mixer.Revision = MIXER_REVISION;	224	Mixer.Revision = MIXER_REVISION;
227	memcpy(Mixer.Name, "Quadro\0", 11);	225	memcpy(Mixer.Name, "Quadro\0", 11);
228	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	226	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
229	}	227	}
230	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);	228	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
-		229
-		230
-		231
231	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	232	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
232	// + Check connected BL-Ctrls	233	// + Check connected BL-Ctrls
233	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	234	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
234	printf("\n\rFound BL-Ctrl: ");	235	printf("\n\rFound BL-Ctrl: ");
235	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data	236	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data
236	timer = SetDelay(2000);	237	timer = SetDelay(2000);
237		238
238		239
239	for(i=0; i < MAX_MOTORS; i++)	240	for(i=0; i < MAX_MOTORS; i++)
240	{	241	{
241	UpdateMotor = 0;	242	UpdateMotor = 0;
242	SendMotorData();	243	SendMotorData();
243	while(!UpdateMotor);	244	while(!UpdateMotor);
244	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up	245	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
245	{	246	{
246	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};	247	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
247	}	248	}
248	if(MotorPresent[i]) printf("%d ",i+1);	249	if(MotorPresent[i]) printf("%d ",i+1);
249	}	250	}
250	for(i=0; i < MAX_MOTORS; i++)	251	for(i=0; i < MAX_MOTORS; i++)
251	{	252	{
252	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)	253	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)
253	{	254	{
254	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	255	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
255	ServoActive = 1; // just in case the FC would be used as camera-stabilizer	256	ServoActive = 1; // just in case the FC would be used as camera-stabilizer
256	}	257	}
257	MotorError[i] = 0;	258	MotorError[i] = 0;
258	}	259	}
259	printf("\n\r===================================");	260	printf("\n\r===================================");
260	SendMotorData();	261	SendMotorData();
261	//printf("\n size: %u",STRUCT_PARAM_LAENGE);	262	//printf("\n size: %u",STRUCT_PARAM_LAENGE);
262		263
263	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	264	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
264	// + Check Settings	265	// + Check Settings
265	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	266	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
266	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)	267	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
267	{	268	{
268	DefaultKonstanten1();	269	DefaultKonstanten1();
269	printf("\n\rInit. EEPROM");	270	printf("\n\rInit. EEPROM");
270	for (unsigned char i=1;i<6;i++)	271	for (unsigned char i=1;i<6;i++)
271	{	272	{
272	if(i==2) DefaultKonstanten2(); // Kamera	273	if(i==2) DefaultKonstanten2(); // Kamera
273	if(i==3) DefaultKonstanten3(); // Beginner	274	if(i==3) DefaultKonstanten3(); // Beginner
274	if(i>3) DefaultKonstanten2(); // Kamera	275	if(i>3) DefaultKonstanten2(); // Kamera
275	if(PlatinenVersion >= 20)	276	if(PlatinenVersion >= 20)
276	{	277	{
277	EE_Parameter.Gyro_D = 5;	278	EE_Parameter.Gyro_D = 5;
278	EE_Parameter.Driftkomp = 0;	279	EE_Parameter.Driftkomp = 0;
279	EE_Parameter.GyroAccFaktor = 27;	280	EE_Parameter.GyroAccFaktor = 27;
280	EE_Parameter.WinkelUmschlagNick = 78;	281	EE_Parameter.WinkelUmschlagNick = 78;
281	EE_Parameter.WinkelUmschlagRoll = 78;	282	EE_Parameter.WinkelUmschlagRoll = 78;
282	}	283	}
283	// valid Stick-Settings?	284	// valid Stick-Settings?
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)	285	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)
285	{	286	{
286	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);	287	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
287	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);	288	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
288	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);	289	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
289	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);	290	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
290	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);	291	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
291	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);	292	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
292	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);	293	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
293	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);	294	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
294		295
295	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)	296	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)
296	{	297	{
297	EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);	298	EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);
298	EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);	299	EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);
299	EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);	300	EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);
300	EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);	301	EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);
301	}	302	}
302	else	303	else
303	{	304	{
304	EE_Parameter.Kanalbelegung[K_POTI5] = 9;	305	EE_Parameter.Kanalbelegung[K_POTI5] = 9;
305	EE_Parameter.Kanalbelegung[K_POTI6] = 10;	306	EE_Parameter.Kanalbelegung[K_POTI6] = 10;
306	EE_Parameter.Kanalbelegung[K_POTI7] = 11;	307	EE_Parameter.Kanalbelegung[K_POTI7] = 11;
307	EE_Parameter.Kanalbelegung[K_POTI8] = 12;	308	EE_Parameter.Kanalbelegung[K_POTI8] = 12;
308	}	309	}
309	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");	310	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
310	} else DefaultStickMapping();	311	} else DefaultStickMapping();
311	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	312	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
312	}	313	}
313	SetActiveParamSetNumber(3); // default-Setting	314	SetActiveParamSetNumber(3); // default-Setting
314	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);	315	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
315	}	316	}
-		317
316		318
-		319
317	FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);	320	FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
318	FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);	321	FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);
319	if(FlugMinutenGesamt == 0xffff \|\| FlugMinuten == 0xffff)	322	if(FlugMinutenGesamt == 0xffff \|\| FlugMinuten == 0xffff)
320	{	323	{
321	FlugMinuten = 0;	324	FlugMinuten = 0;
322	FlugMinutenGesamt = 0;	325	FlugMinutenGesamt = 0;
323	}	326	}
324	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);	327	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
325		328
326	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)	329	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
327	{	330	{
328	printf("\n\rACC not calibrated !");	331	printf("\n\rACC not calibrated !");
329	}	332	}
330		333
331	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	334	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
332	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());	335	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
333		336
334		337
335	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	338	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
336	{	339	{
337	printf("\n\rCalibrating pressure sensor..");	340	printf("\n\rCalibrating pressure sensor..");
338	timer = SetDelay(1000);	341	timer = SetDelay(1000);
339	SucheLuftruckOffset();	342	SucheLuftruckOffset();
340	while (!CheckDelay(timer));	343	while (!CheckDelay(timer));
341	printf("OK\n\r");	344	printf("OK\n\r");
342	}	345	}
343		346
344	SetNeutral();	347	SetNeutral();
345		348
346	ROT_OFF;	349	ROT_OFF;
347		350
348	beeptime = 2000;	351	beeptime = 2000;
349	ExternControl.Digital[0] = 0x55;	352	ExternControl.Digital[0] = 0x55;
350		353
351		354
352	printf("\n\rControl: ");	355	printf("\n\rControl: ");
353	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	356	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
354	else printf("Normal (ACC-Mode)");	357	else printf("Normal (ACC-Mode)");
355		358
356	LcdClear();	359	LcdClear();
357	I2CTimeout = 5000;	360	I2CTimeout = 5000;
358	WinkelOut.Orientation = 1;	361	WinkelOut.Orientation = 1;
359	LipoDetection(1);	362	LipoDetection(1);
-		363
-		364	InitReceiver();
360	printf("\n\r===================================\n\r");	365	printf("\n\r===================================\n\r");
361	//SpektrumBinding();	366	//SpektrumBinding();
362	timer = SetDelay(2000);	367	timer = SetDelay(2000);
363	timerPolling = SetDelay(250);	368	timerPolling = SetDelay(250);
364	while (1)	369	while (1)
365	{	370	{
366		371
367	if(CheckDelay(timerPolling))	372	if(CheckDelay(timerPolling))
368	{	373	{
369	timerPolling = SetDelay(100);	374	timerPolling = SetDelay(100);
370	Polling();	375	Polling();
371	}	376	}
372		377
373	if(UpdateMotor && AdReady) // ReglerIntervall	378	if(UpdateMotor && AdReady) // ReglerIntervall
374	{	379	{
375	UpdateMotor=0;	380	UpdateMotor=0;
376	if(WinkelOut.CalcState) CalMk3Mag();	381	if(WinkelOut.CalcState) CalMk3Mag();
377	else MotorRegler();	382	else MotorRegler();
378	SendMotorData();	383	SendMotorData();
379	ROT_OFF;	384	ROT_OFF;
380	if(SenderOkay) SenderOkay--;	385	if(SenderOkay) SenderOkay--;
381	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	386	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
382	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	387	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
383	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	388	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
384	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	389	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
385	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	390	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
386		391
387	if(!--I2CTimeout \|\| MissingMotor)	392	if(!--I2CTimeout \|\| MissingMotor)
388	{	393	{
389	if(!I2CTimeout)	394	if(!I2CTimeout)
390	{	395	{
391	i2c_reset();	396	i2c_reset();
392	I2CTimeout = 5;	397	I2CTimeout = 5;
393	DebugOut.Analog[28]++; // I2C-Error	398	DebugOut.Analog[28]++; // I2C-Error
394	FCFlags \|= FCFLAG_I2CERR;	399	FCFlags \|= FCFLAG_I2CERR;
395	}	400	}
396	if((BeepMuster == 0xffff) && MotorenEin)	401	if((BeepMuster == 0xffff) && MotorenEin)
397	{	402	{
398	beeptime = 10000;	403	beeptime = 10000;
399	BeepMuster = 0x0080;	404	BeepMuster = 0x0080;
400	}	405	}
401	}	406	}
402	else	407	else
403	{	408	{
404	ROT_OFF;	409	ROT_OFF;
405	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;	410	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
406	}	411	}
407	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))	412	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))
408	{	413	{
409	DatenUebertragung();	414	DatenUebertragung();
410	BearbeiteRxDaten();	415	BearbeiteRxDaten();
411	}	416	}
412	else BearbeiteRxDaten();	417	else BearbeiteRxDaten();
413	if(CheckDelay(timer))	418	if(CheckDelay(timer))
414	{	419	{
415	timer += 20; // 20 ms interval	420	timer += 20; // 20 ms interval
416	if(PcZugriff) PcZugriff--;	421	if(PcZugriff) PcZugriff--;
417	else	422	else
418	{	423	{
419	ExternControl.Config = 0;	424	ExternControl.Config = 0;
420	ExternStickNick = 0;	425	ExternStickNick = 0;
421	ExternStickRoll = 0;	426	ExternStickRoll = 0;
422	ExternStickGier = 0;	427	ExternStickGier = 0;
423	if(BeepMuster == 0xffff && SenderOkay == 0)	428	if(BeepMuster == 0xffff && SenderOkay == 0)
424	{	429	{
425	beeptime = 15000;	430	beeptime = 15000;
426	BeepMuster = 0x0c00;	431	BeepMuster = 0x0c00;
427	}	432	}
428	}	433	}
429	if(NaviDataOkay)	434	if(NaviDataOkay)
430	{	435	{
431	NaviDataOkay--;	436	NaviDataOkay--;
432	FCFlags &= ~FCFLAG_SPI_RX_ERR;	437	FCFlags &= ~FCFLAG_SPI_RX_ERR;
433	}	438	}
434	else	439	else
435	{	440	{
436	GPS_Nick = 0;	441	GPS_Nick = 0;
437	GPS_Roll = 0;	442	GPS_Roll = 0;
438	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;	443	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;
439	}	444	}
440	if(UBat < BattLowVoltageWarning)	445	if(UBat < BattLowVoltageWarning)
441	{	446	{
442	FCFlags \|= FCFLAG_LOWBAT;	447	FCFlags \|= FCFLAG_LOWBAT;
443	if(BeepMuster == 0xffff)	448	if(BeepMuster == 0xffff)
444	{	449	{
445	beeptime = 6000;	450	beeptime = 6000;
446	BeepMuster = 0x0300;	451	BeepMuster = 0x0300;
447	}	452	}
448	}	453	}
449	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;	454	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
450		455
451	SPI_StartTransmitPacket();	456	SPI_StartTransmitPacket();
452	SendSPI = 4;	457	SendSPI = 4;
453		458
454	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden	459	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
455		460
456	if(++timer2 == 2930) // eine Minute	461	if(++timer2 == 2930) // eine Minute
457	{	462	{
458	timer2 = 0;	463	timer2 = 0;
459	FlugMinuten++;	464	FlugMinuten++;
460	FlugMinutenGesamt++;	465	FlugMinutenGesamt++;
461	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);	466	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);
462	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);	467	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);
463	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);	468	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);
464	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);	469	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);
465	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	470	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
466	}	471	}
467	}	472	}
468	LED_Update();	473	LED_Update();
469	}	474	}
470	if(!SendSPI) { SPI_TransmitByte(); }	475	if(!SendSPI) { SPI_TransmitByte(); }
471	}	476	}
472	return (1);	477	return (1);
473	}	478	}
474		479
475		480
476		481

Subversion Repositories FlightCtrl

(root)/branches/V0.88n_ACC-HH_HR_MartinR/main.c @ 2177 - Rev 1424 → 1431