WebSVN - FlightCtrl - Diff - Rev 1435 and 1438


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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();
 
        LIBFC_Init();
 
 
        GRN_ON;
    sei();
 
        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
 
 
    if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
       (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff))                   // Settings reset via Koptertool
        {
     unsigned char i;
         RequiredMotors = 0;
     eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
     for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
        }
        else // default
        {
     unsigned char i;
         printf("\n\rGenerating default Mixer Table");
         for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;};
     // default = Quadro
     Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] =   0; Mixer.Motor[0][3] = +64;
     Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] =   0; Mixer.Motor[1][3] = +64;
     Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] =   0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
     Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] =   0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
         Mixer.Revision = MIXER_REVISION;
     memcpy(Mixer.Name, "Quadro\0", 11);
     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
    }
    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
 
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        printf("\n\r-->%d", MAX_EMPFANGS_BUFF);
        printf("\n\rFound BL-Ctrl: ");
    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
    timer = SetDelay(2000);
 
 
        for(i=0; i < MAX_MOTORS; i++)
         {
          UpdateMotor = 0;
      SendMotorData();
          while(!UpdateMotor);
      if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
        {
             while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
                }
          if(MotorPresent[i]) printf("%d ",i+1);
     }
        for(i=0; i < MAX_MOTORS; i++)
         {
          if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)
           {
            printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
                ServoActive = 1; // just in case the FC would be used as camera-stabilizer
           }
          MotorError[i] = 0;
     }
        printf("\n\r===================================");
    SendMotorData();
//printf("\n size: %u",STRUCT_PARAM_LAENGE);
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check Settings
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
        {
          DefaultKonstanten1();
          printf("\n\rInit. EEPROM");
          for (unsigned char i=1;i<6;i++)
      {
       if(i==2) DefaultKonstanten2(); // Kamera
       if(i==3) DefaultKonstanten3(); // Beginner
       if(i>3)  DefaultKonstanten2(); // Kamera
           if(PlatinenVersion >= 20)
            {
                 EE_Parameter.Gyro_D = 5;
                 EE_Parameter.Driftkomp = 0;
                 EE_Parameter.GyroAccFaktor = 27;
         EE_Parameter.WinkelUmschlagNick = 78;
         EE_Parameter.WinkelUmschlagRoll = 78;
                }
    // valid Stick-Settings?
           if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12)
            {
         EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
         EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
         EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
         EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
         EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
         EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
         EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
         EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
 
         if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)
                  {
                   EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);
           EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);
           EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);
           EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);
                  }
                  else
                  {
           EE_Parameter.Kanalbelegung[K_POTI5] = 9;
           EE_Parameter.Kanalbelegung[K_POTI6] = 10;
           EE_Parameter.Kanalbelegung[K_POTI7] = 11;
           EE_Parameter.Kanalbelegung[K_POTI8] = 12;
                  }
         if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
                } else DefaultStickMapping();
       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
      }
          SetActiveParamSetNumber(3); // default-Setting
          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
        }
 
 
 
    FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
    FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);
    if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff)
         {
          FlugMinuten = 0;
          FlugMinutenGesamt = 0;
         }
    printf("\n\rFlight-time %u min  Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
 
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
     {
       printf("\n\rACC not calibrated !");
     }
 
        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
    printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
 
 
        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
         {
           printf("\n\rCalibrating pressure sensor..");
           timer = SetDelay(1000);
       SucheLuftruckOffset();
           while (!CheckDelay(timer));
       printf("OK\n\r");
        }
 
        SetNeutral();
 
        ROT_OFF;
 
    beeptime = 2000;
    ExternControl.Digital[0] = 0x55;
 
 
        printf("\n\rControl: ");
        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
        else printf("Normal (ACC-Mode)");
 
    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    LipoDetection(1);
 
        LIBFC_ReceiverInit();
        printf("\n\r===================================\n\r");
//SpektrumBinding();
    timer = SetDelay(2000);
        timerPolling = SetDelay(250);
        while (1)
        {
 
        if(CheckDelay(timerPolling))
        {
          timerPolling = SetDelay(100);
          LIBFC_Polling();
        }
 
        if(UpdateMotor && AdReady)      // ReglerIntervall
            {
                    UpdateMotor=0;
            if(WinkelOut.CalcState) CalMk3Mag();
            else MotorRegler();
            SendMotorData();
            ROT_OFF;
            if(SenderOkay)  SenderOkay--;
                        else TIMSK1 |= _BV(ICIE1); // enable PPM-Input
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
            if(!--I2CTimeout || MissingMotor)
                {
                  if(!I2CTimeout)
                                   {
                                    i2c_reset();
                    I2CTimeout = 5;
                                        DebugOut.Analog[28]++; // I2C-Error
                                        FCFlags |= FCFLAG_I2CERR;
                                   }
                  if((BeepMuster == 0xffff) && MotorenEin)
                   {
                    beeptime = 10000;
                    BeepMuster = 0x0080;
                   }
                }
            else
                {
                 ROT_OFF;
                                 if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
                }
            if(SIO_DEBUG && (!UpdateMotor || !MotorenEin))
              {
               DatenUebertragung();
               BearbeiteRxDaten();
              }
                        else BearbeiteRxDaten();
                        if(CheckDelay(timer))
                        {
                                timer += 20; // 20 ms interval
                                if(PcZugriff) PcZugriff--;
                                else
                                {
                                        ExternControl.Config = 0;
                                        ExternStickNick = 0;
                                        ExternStickRoll = 0;
                                        ExternStickGier = 0;
                                        if(BeepMuster == 0xffff && SenderOkay == 0)
                                        {
                                                beeptime = 15000;
                                                BeepMuster = 0x0c00;
                                        }
                                }
                                if(NaviDataOkay)
                                {
                                        NaviDataOkay--;
                                        FCFlags &= ~FCFLAG_SPI_RX_ERR;
                                }
                                else
                                {
                                        GPS_Nick = 0;
                                        GPS_Roll = 0;
                                        if(!beeptime) FCFlags |= FCFLAG_SPI_RX_ERR;
                                }
                           if(UBat < BattLowVoltageWarning)
                                {
                                        FCFlags |= FCFLAG_LOWBAT;
                                        if(BeepMuster == 0xffff)
                                        {
                                                beeptime = 6000;
                                                BeepMuster = 0x0300;
                                        }
                                }
                                else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
 
                                SPI_StartTransmitPacket();
                                SendSPI = 4;
 
                                if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
 
                                if(++timer2 == 2930)  // eine Minute
                                 {
                                   timer2 = 0;
                   FlugMinuten++;
                       FlugMinutenGesamt++;
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);
                   eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);
                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
                             }
                        }
           LED_Update();
          }
     if(!SendSPI) { SPI_TransmitByte(); }
    }
 return (1);
}
 
 
 

Rev 1435	Rev 1438
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) Holger Buss, Ingo Busker	2	// + Copyright (c) Holger Buss, Ingo Busker
3	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	3	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	6	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.	7	// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	8	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
9	// + bzgl. der Nutzungsbedingungen aufzunehmen.	9	// + bzgl. der Nutzungsbedingungen aufzunehmen.
10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	10	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
11	// + Verkauf von Luftbildaufnahmen, usw.	11	// + Verkauf von Luftbildaufnahmen, usw.
12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	12	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	13	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	14	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	15	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	16	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	17	// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
18	// + eindeutig als Ursprung verlinkt und genannt werden	18	// + eindeutig als Ursprung verlinkt und genannt werden
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	20	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
21	// + Benutzung auf eigene Gefahr	21	// + Benutzung auf eigene Gefahr
22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	22	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	24	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
25	// + mit unserer Zustimmung zulässig	25	// + mit unserer Zustimmung zulässig
26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	26	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	27	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	29	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
30	// + this list of conditions and the following disclaimer.	30	// + this list of conditions and the following disclaimer.
31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	31	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
32	// + from this software without specific prior written permission.	32	// + from this software without specific prior written permission.
33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet	33	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
34	// + for non-commercial use (directly or indirectly)	34	// + for non-commercial use (directly or indirectly)
35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	35	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
36	// + with our written permission	36	// + with our written permission
37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	37	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
38	// + clearly linked as origin	38	// + clearly linked as origin
39	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	39	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	40	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	41	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	42	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	43	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	44	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	45	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	46	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	47	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	48	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	49	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
50	// + POSSIBILITY OF SUCH DAMAGE.	50	// + POSSIBILITY OF SUCH DAMAGE.
51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	51	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
52	#include "main.h"	52	#include "main.h"
-		53
53		54
54	unsigned char EEPromArray[E2END+1] EEMEM;	55	unsigned char EEPromArray[E2END+1] EEMEM;
55	unsigned char PlatinenVersion = 10;	56	unsigned char PlatinenVersion = 10;
56	unsigned char SendVersionToNavi = 1;	57	unsigned char SendVersionToNavi = 1;
57	unsigned char BattLowVoltageWarning = 94;	58	unsigned char BattLowVoltageWarning = 94;
58	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;	59	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
59	// -- Parametersatz aus EEPROM lesen ---	60	// -- Parametersatz aus EEPROM lesen ---
60	// number [1..5]	61	// number [1..5]
61	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	62	void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
62	{	63	{
63	if((number > 5)\|\|(number < 1)) number = 3;	64	if((number > 5)\|\|(number < 1)) number = 3;
64	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	65	eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);
65	LED_Init();	66	LED_Init();
66	}	67	}
67		68
68	// -- Parametersatz ins EEPROM schreiben ---	69	// -- Parametersatz ins EEPROM schreiben ---
69	// number [1..5]	70	// number [1..5]
70	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)	71	void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
71	{	72	{
72	if(number > 5) number = 5;	73	if(number > 5) number = 5;
73	if(number < 1) return;	74	if(number < 1) return;
74	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length);	75	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	76	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	77	eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 12); // 12 Kanäle merken
77	SetActiveParamSetNumber(number);	78	SetActiveParamSetNumber(number);
78	LED_Init();	79	LED_Init();
79	}	80	}
80		81
81	unsigned char GetActiveParamSetNumber(void)	82	unsigned char GetActiveParamSetNumber(void)
82	{	83	{
83	unsigned char set;	84	unsigned char set;
84	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);	85	set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
85	if((set > 5) \|\| (set < 1))	86	if((set > 5) \|\| (set < 1))
86	{	87	{
87	set = 3;	88	set = 3;
88	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken	89	SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken
89	}	90	}
90	return(set);	91	return(set);
91	}	92	}
92		93
93	void SetActiveParamSetNumber(unsigned char number)	94	void SetActiveParamSetNumber(unsigned char number)
94	{	95	{
95	if(number > 5) number = 5;	96	if(number > 5) number = 5;
96	if(number < 1) return;	97	if(number < 1) return;
97	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken	98	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken
98	}	99	}
99		100
100		101
101	void CalMk3Mag(void)	102	void CalMk3Mag(void)
102	{	103	{
103	static unsigned char stick = 1;	104	static unsigned char stick = 1;
104		105
105	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	106	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
106	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	107	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
107	{	108	{
108	stick = 1;	109	stick = 1;
109	WinkelOut.CalcState++;	110	WinkelOut.CalcState++;
110	if(WinkelOut.CalcState > 4)	111	if(WinkelOut.CalcState > 4)
111	{	112	{
112	// WinkelOut.CalcState = 0; // in Uart.c	113	// WinkelOut.CalcState = 0; // in Uart.c
113	beeptime = 1000;	114	beeptime = 1000;
114	}	115	}
115	else Piep(WinkelOut.CalcState,150);	116	else Piep(WinkelOut.CalcState,150);
116	}	117	}
117	DebugOut.Analog[19] = WinkelOut.CalcState;	118	DebugOut.Analog[19] = WinkelOut.CalcState;
118	}	119	}
-		120
-		121
119		122
120	void LipoDetection(unsigned char print)	123	void LipoDetection(unsigned char print)
121	{	124	{
122	unsigned int timer;	125	unsigned int timer;
123	if(print) printf("\n\rBatt:");	126	if(print) printf("\n\rBatt:");
124	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung	127	if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung
125	{	128	{
126	timer = SetDelay(500);	129	timer = SetDelay(500);
127	if(print) while (!CheckDelay(timer));	130	if(print) while (!CheckDelay(timer));
128	if(UBat < 130)	131	if(UBat < 130)
129	{	132	{
130	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;	133	BattLowVoltageWarning = 3 * EE_Parameter.UnterspannungsWarnung;
131	if(print)	134	if(print)
132	{	135	{
133	Piep(3,200);	136	Piep(3,200);
134	printf(" 3 Cells ");	137	printf(" 3 Cells ");
135	}	138	}
136	}	139	}
137	else	140	else
138	{	141	{
139	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;	142	BattLowVoltageWarning = 4 * EE_Parameter.UnterspannungsWarnung;
140	if(print)	143	if(print)
141	{	144	{
142	Piep(4,200);	145	Piep(4,200);
143	printf(" 4 Cells ");	146	printf(" 4 Cells ");
144	}	147	}
145	}	148	}
146	}	149	}
147	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	150	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
148	// if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;	151	// if(BattLowVoltageWarning < 93) BattLowVoltageWarning = 93;
149	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	152	if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
150	}	153	}
151		154
152	//############################################################################	155	//############################################################################
153	//Hauptprogramm	156	//Hauptprogramm
154	int main (void)	157	int main (void)
155	//############################################################################	158	//############################################################################
156	{	159	{
157	unsigned int timer,i,timer2 = 0, timerPolling;	160	unsigned int timer,i,timer2 = 0, timerPolling;
158	DDRB = 0x00;	161	DDRB = 0x00;
159	PORTB = 0x00;	162	PORTB = 0x00;
160	for(timer = 0; timer < 1000; timer++); // verzögern	163	for(timer = 0; timer < 1000; timer++); // verzögern
161	if(PINB & 0x01)	164	if(PINB & 0x01)
162	{	165	{
163	if(PINB & 0x02) PlatinenVersion = 13;	166	if(PINB & 0x02) PlatinenVersion = 13;
164	else PlatinenVersion = 11;	167	else PlatinenVersion = 11;
165	}	168	}
166	else	169	else
167	{	170	{
168	if(PINB & 0x02) PlatinenVersion = 20;	171	if(PINB & 0x02) PlatinenVersion = 20;
169	else PlatinenVersion = 10;	172	else PlatinenVersion = 10;
170	}	173	}
171		174
172	DDRC = 0x81; // SCL	175	DDRC = 0x81; // SCL
173	DDRC \|=0x40; // HEF4017 Reset	176	DDRC \|=0x40; // HEF4017 Reset
174	PORTC = 0xff; // Pullup SDA	177	PORTC = 0xff; // Pullup SDA
175	DDRB = 0x1B; // LEDs und Druckoffset	178	DDRB = 0x1B; // LEDs und Druckoffset
176	PORTB = 0x01; // LED_Rot	179	PORTB = 0x01; // LED_Rot
177	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	180	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
178	PORTD = 0x47; // LED	181	PORTD = 0x47; // LED
179	HEF4017R_ON;	182	HEF4017R_ON;
180	MCUSR &=~(1<<WDRF);	183	MCUSR &=~(1<<WDRF);
181	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	184	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
182	WDTCSR = 0;	185	WDTCSR = 0;
183		186
184	beeptime = 2000;	187	beeptime = 2000;
185	StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;	188	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	189	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
187	ROT_OFF;	190	ROT_OFF;
188		191
189	Timer_Init();	192	Timer_Init();
190	TIMER2_Init();	193	TIMER2_Init();
191	UART_Init();	194	UART_Init();
192	rc_sum_init();	195	rc_sum_init();
193	ADC_Init();	196	ADC_Init();
194	i2c_init();	197	i2c_init();
195	SPI_MasterInit();	198	SPI_MasterInit();
196		-
197	LIBFC_Init();	199	LIBFC_Init();
198		-
199		200
200	GRN_ON;	201	GRN_ON;
201	sei();	202	sei();
202		203
203	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes	204	ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
204		205
205		206
206	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte	207	if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
207	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool	208	(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool
208	{	209	{
209	unsigned char i;	210	unsigned char i;
210	RequiredMotors = 0;	211	RequiredMotors = 0;
211	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	212	eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
212	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}	213	for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;}
213	}	214	}
214	else // default	215	else // default
215	{	216	{
216	unsigned char i;	217	unsigned char i;
217	printf("\n\rGenerating default Mixer Table");	218	printf("\n\rGenerating default Mixer Table");
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;};	219	for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;};
219	// default = Quadro	220	// default = Quadro
220	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;	221	Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64;
221	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;	222	Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64;
222	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;	223	Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64;
223	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;	224	Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64;
224	Mixer.Revision = MIXER_REVISION;	225	Mixer.Revision = MIXER_REVISION;
225	memcpy(Mixer.Name, "Quadro\0", 11);	226	memcpy(Mixer.Name, "Quadro\0", 11);
226	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));	227	eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
227	}	228	}
228	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);	229	printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
229		230
230		231
231		232
232	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	233	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
233	// + Check connected BL-Ctrls	234	// + Check connected BL-Ctrls
234	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	235	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-		236	printf("\n\r-->%d", MAX_EMPFANGS_BUFF);
235	printf("\n\rFound BL-Ctrl: ");	237	printf("\n\rFound BL-Ctrl: ");
236	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data	238	motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data
237	timer = SetDelay(2000);	239	timer = SetDelay(2000);
238		240
239		241
240	for(i=0; i < MAX_MOTORS; i++)	242	for(i=0; i < MAX_MOTORS; i++)
241	{	243	{
242	UpdateMotor = 0;	244	UpdateMotor = 0;
243	SendMotorData();	245	SendMotorData();
244	while(!UpdateMotor);	246	while(!UpdateMotor);
245	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up	247	if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up
246	{	248	{
247	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};	249	while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);};
248	}	250	}
249	if(MotorPresent[i]) printf("%d ",i+1);	251	if(MotorPresent[i]) printf("%d ",i+1);
250	}	252	}
251	for(i=0; i < MAX_MOTORS; i++)	253	for(i=0; i < MAX_MOTORS; i++)
252	{	254	{
253	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)	255	if(!MotorPresent[i] && Mixer.Motor[i][0] > 0)
254	{	256	{
255	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	257	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
256	ServoActive = 1; // just in case the FC would be used as camera-stabilizer	258	ServoActive = 1; // just in case the FC would be used as camera-stabilizer
257	}	259	}
258	MotorError[i] = 0;	260	MotorError[i] = 0;
259	}	261	}
260	printf("\n\r===================================");	262	printf("\n\r===================================");
261	SendMotorData();	263	SendMotorData();
262	//printf("\n size: %u",STRUCT_PARAM_LAENGE);	264	//printf("\n size: %u",STRUCT_PARAM_LAENGE);
263		265
264	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	266	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
265	// + Check Settings	267	// + Check Settings
266	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	268	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
267	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)	269	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
268	{	270	{
269	DefaultKonstanten1();	271	DefaultKonstanten1();
270	printf("\n\rInit. EEPROM");	272	printf("\n\rInit. EEPROM");
271	for (unsigned char i=1;i<6;i++)	273	for (unsigned char i=1;i<6;i++)
272	{	274	{
273	if(i==2) DefaultKonstanten2(); // Kamera	275	if(i==2) DefaultKonstanten2(); // Kamera
274	if(i==3) DefaultKonstanten3(); // Beginner	276	if(i==3) DefaultKonstanten3(); // Beginner
275	if(i>3) DefaultKonstanten2(); // Kamera	277	if(i>3) DefaultKonstanten2(); // Kamera
276	if(PlatinenVersion >= 20)	278	if(PlatinenVersion >= 20)
277	{	279	{
278	EE_Parameter.Gyro_D = 5;	280	EE_Parameter.Gyro_D = 5;
279	EE_Parameter.Driftkomp = 0;	281	EE_Parameter.Driftkomp = 0;
280	EE_Parameter.GyroAccFaktor = 27;	282	EE_Parameter.GyroAccFaktor = 27;
281	EE_Parameter.WinkelUmschlagNick = 78;	283	EE_Parameter.WinkelUmschlagNick = 78;
282	EE_Parameter.WinkelUmschlagRoll = 78;	284	EE_Parameter.WinkelUmschlagRoll = 78;
283	}	285	}
284	// valid Stick-Settings?	286	// valid Stick-Settings?
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)	287	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)
286	{	288	{
287	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);	289	EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]);
288	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);	290	EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]);
289	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);	291	EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]);
290	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);	292	EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]);
291	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);	293	EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]);
292	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);	294	EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]);
293	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);	295	EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]);
294	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);	296	EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]);
295		297
296	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)	298	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]) < 255)
297	{	299	{
298	EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);	300	EE_Parameter.Kanalbelegung[K_POTI5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+8]);
299	EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);	301	EE_Parameter.Kanalbelegung[K_POTI6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+9]);
300	EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);	302	EE_Parameter.Kanalbelegung[K_POTI7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+10]);
301	EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);	303	EE_Parameter.Kanalbelegung[K_POTI8] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+11]);
302	}	304	}
303	else	305	else
304	{	306	{
305	EE_Parameter.Kanalbelegung[K_POTI5] = 9;	307	EE_Parameter.Kanalbelegung[K_POTI5] = 9;
306	EE_Parameter.Kanalbelegung[K_POTI6] = 10;	308	EE_Parameter.Kanalbelegung[K_POTI6] = 10;
307	EE_Parameter.Kanalbelegung[K_POTI7] = 11;	309	EE_Parameter.Kanalbelegung[K_POTI7] = 11;
308	EE_Parameter.Kanalbelegung[K_POTI8] = 12;	310	EE_Parameter.Kanalbelegung[K_POTI8] = 12;
309	}	311	}
310	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");	312	if(i==1) printf(": Generating Default-Parameter using old Stick Settings");
311	} else DefaultStickMapping();	313	} else DefaultStickMapping();
312	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	314	WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
313	}	315	}
314	SetActiveParamSetNumber(3); // default-Setting	316	SetActiveParamSetNumber(3); // default-Setting
315	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);	317	eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
316	}	318	}
317		319
318		320
319		321
320	FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);	322	FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
321	FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);	323	FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);
322	if(FlugMinutenGesamt == 0xffff \|\| FlugMinuten == 0xffff)	324	if(FlugMinutenGesamt == 0xffff \|\| FlugMinuten == 0xffff)
323	{	325	{
324	FlugMinuten = 0;	326	FlugMinuten = 0;
325	FlugMinutenGesamt = 0;	327	FlugMinutenGesamt = 0;
326	}	328	}
327	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);	329	printf("\n\rFlight-time %u min Total:%u min" ,FlugMinuten,FlugMinutenGesamt);
328		330
329	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)	331	if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
330	{	332	{
331	printf("\n\rACC not calibrated !");	333	printf("\n\rACC not calibrated !");
332	}	334	}
333		335
334	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);	336	ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
335	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());	337	printf("\n\rUsing parameterset %d", GetActiveParamSetNumber());
336		338
337		339
338	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	340	if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
339	{	341	{
340	printf("\n\rCalibrating pressure sensor..");	342	printf("\n\rCalibrating pressure sensor..");
341	timer = SetDelay(1000);	343	timer = SetDelay(1000);
342	SucheLuftruckOffset();	344	SucheLuftruckOffset();
343	while (!CheckDelay(timer));	345	while (!CheckDelay(timer));
344	printf("OK\n\r");	346	printf("OK\n\r");
345	}	347	}
346		348
347	SetNeutral();	349	SetNeutral();
348		350
349	ROT_OFF;	351	ROT_OFF;
350		352
351	beeptime = 2000;	353	beeptime = 2000;
352	ExternControl.Digital[0] = 0x55;	354	ExternControl.Digital[0] = 0x55;
353		355
354		356
355	printf("\n\rControl: ");	357	printf("\n\rControl: ");
356	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");	358	if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
357	else printf("Normal (ACC-Mode)");	359	else printf("Normal (ACC-Mode)");
358		360
359	LcdClear();	361	LcdClear();
360	I2CTimeout = 5000;	362	I2CTimeout = 5000;
361	WinkelOut.Orientation = 1;	363	WinkelOut.Orientation = 1;
362	LipoDetection(1);	364	LipoDetection(1);
363		365
364	LIBFC_ReceiverInit();	366	LIBFC_ReceiverInit();
365	printf("\n\r===================================\n\r");	367	printf("\n\r===================================\n\r");
366	//SpektrumBinding();	368	//SpektrumBinding();
367	timer = SetDelay(2000);	369	timer = SetDelay(2000);
368	timerPolling = SetDelay(250);	370	timerPolling = SetDelay(250);
369	while (1)	371	while (1)
370	{	372	{
371		373
372	if(CheckDelay(timerPolling))	374	if(CheckDelay(timerPolling))
373	{	375	{
374	timerPolling = SetDelay(100);	376	timerPolling = SetDelay(100);
375	LIBFC_Polling();	377	LIBFC_Polling();
376	}	378	}
377		379
378	if(UpdateMotor && AdReady) // ReglerIntervall	380	if(UpdateMotor && AdReady) // ReglerIntervall
379	{	381	{
380	UpdateMotor=0;	382	UpdateMotor=0;
381	if(WinkelOut.CalcState) CalMk3Mag();	383	if(WinkelOut.CalcState) CalMk3Mag();
382	else MotorRegler();	384	else MotorRegler();
383	SendMotorData();	385	SendMotorData();
384	ROT_OFF;	386	ROT_OFF;
385	if(SenderOkay) SenderOkay--;	387	if(SenderOkay) SenderOkay--;
386	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	388	else TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
387	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	389	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
388	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	390	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
389	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	391	if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
390	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	392	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
391		393
392	if(!--I2CTimeout \|\| MissingMotor)	394	if(!--I2CTimeout \|\| MissingMotor)
393	{	395	{
394	if(!I2CTimeout)	396	if(!I2CTimeout)
395	{	397	{
396	i2c_reset();	398	i2c_reset();
397	I2CTimeout = 5;	399	I2CTimeout = 5;
398	DebugOut.Analog[28]++; // I2C-Error	400	DebugOut.Analog[28]++; // I2C-Error
399	FCFlags \|= FCFLAG_I2CERR;	401	FCFlags \|= FCFLAG_I2CERR;
400	}	402	}
401	if((BeepMuster == 0xffff) && MotorenEin)	403	if((BeepMuster == 0xffff) && MotorenEin)
402	{	404	{
403	beeptime = 10000;	405	beeptime = 10000;
404	BeepMuster = 0x0080;	406	BeepMuster = 0x0080;
405	}	407	}
406	}	408	}
407	else	409	else
408	{	410	{
409	ROT_OFF;	411	ROT_OFF;
410	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;	412	if(!beeptime) FCFlags &= ~FCFLAG_I2CERR;
411	}	413	}
412	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))	414	if(SIO_DEBUG && (!UpdateMotor \|\| !MotorenEin))
413	{	415	{
414	DatenUebertragung();	416	DatenUebertragung();
415	BearbeiteRxDaten();	417	BearbeiteRxDaten();
416	}	418	}
417	else BearbeiteRxDaten();	419	else BearbeiteRxDaten();
418	if(CheckDelay(timer))	420	if(CheckDelay(timer))
419	{	421	{
420	timer += 20; // 20 ms interval	422	timer += 20; // 20 ms interval
421	if(PcZugriff) PcZugriff--;	423	if(PcZugriff) PcZugriff--;
422	else	424	else
423	{	425	{
424	ExternControl.Config = 0;	426	ExternControl.Config = 0;
425	ExternStickNick = 0;	427	ExternStickNick = 0;
426	ExternStickRoll = 0;	428	ExternStickRoll = 0;
427	ExternStickGier = 0;	429	ExternStickGier = 0;
428	if(BeepMuster == 0xffff && SenderOkay == 0)	430	if(BeepMuster == 0xffff && SenderOkay == 0)
429	{	431	{
430	beeptime = 15000;	432	beeptime = 15000;
431	BeepMuster = 0x0c00;	433	BeepMuster = 0x0c00;
432	}	434	}
433	}	435	}
434	if(NaviDataOkay)	436	if(NaviDataOkay)
435	{	437	{
436	NaviDataOkay--;	438	NaviDataOkay--;
437	FCFlags &= ~FCFLAG_SPI_RX_ERR;	439	FCFlags &= ~FCFLAG_SPI_RX_ERR;
438	}	440	}
439	else	441	else
440	{	442	{
441	GPS_Nick = 0;	443	GPS_Nick = 0;
442	GPS_Roll = 0;	444	GPS_Roll = 0;
443	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;	445	if(!beeptime) FCFlags \|= FCFLAG_SPI_RX_ERR;
444	}	446	}
445	if(UBat < BattLowVoltageWarning)	447	if(UBat < BattLowVoltageWarning)
446	{	448	{
447	FCFlags \|= FCFLAG_LOWBAT;	449	FCFlags \|= FCFLAG_LOWBAT;
448	if(BeepMuster == 0xffff)	450	if(BeepMuster == 0xffff)
449	{	451	{
450	beeptime = 6000;	452	beeptime = 6000;
451	BeepMuster = 0x0300;	453	BeepMuster = 0x0300;
452	}	454	}
453	}	455	}
454	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;	456	else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT;
455		457
456	SPI_StartTransmitPacket();	458	SPI_StartTransmitPacket();
457	SendSPI = 4;	459	SendSPI = 4;
458		460
459	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden	461	if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden
460		462
461	if(++timer2 == 2930) // eine Minute	463	if(++timer2 == 2930) // eine Minute
462	{	464	{
463	timer2 = 0;	465	timer2 = 0;
464	FlugMinuten++;	466	FlugMinuten++;
465	FlugMinutenGesamt++;	467	FlugMinutenGesamt++;
466	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);	468	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256);
467	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);	469	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256);
468	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);	470	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256);
469	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);	471	eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256);
470	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	472	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
471	}	473	}
472	}	474	}
473	LED_Update();	475	LED_Update();
474	}	476	}
475	if(!SendSPI) { SPI_TransmitByte(); }	477	if(!SendSPI) { SPI_TransmitByte(); }
476	}	478	}
477	return (1);	479	return (1);
478	}	480	}
479		481
480		482
481		483

Subversion Repositories FlightCtrl

(root)/tags/V0.86c/main.c @ 2712 - Rev 1435 → 1438