WebSVN - FlightCtrl - Diff - Rev 2408 and 2416


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
unsigned char DisableRcOffBeeping = 0;
unsigned char PlatinenVersion = 10;
unsigned char BattLowVoltageWarning = 94;
unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0;
unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
unsigned int FlugSekunden = 0;
pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
unsigned char FoundMotors = 0;
unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box
unsigned char ActiveParamSet = 3;
unsigned char LipoCells = 4;
 
void PrintLine(void)
{
 printf("\n\r===================================");
}
 
 
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);
  }
}
 
 
void LipoDetection(unsigned char print)
{
        #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO
        if(print)
         {
          printf("\n\rBatt:");
          LipoCells = 1 + UBat / MAX_CELL_VOLTAGE;
          if(LipoCells > 6) LipoCells = 6;
         }
 
        if(EE_Parameter.UnterspannungsWarnung < 50)
        {
                BattLowVoltageWarning = LipoCells * EE_Parameter.UnterspannungsWarnung;
                if(print)
                {
                        Piep(LipoCells, 200);
                        printf(" %d Cells ", LipoCells);
                }
        }
        else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
 
        // automatische Zellenerkennung
        if(EE_Parameter.AutoLandingVoltage < 50) BattAutoLandingVoltage = LipoCells * EE_Parameter.AutoLandingVoltage; else BattAutoLandingVoltage = EE_Parameter.AutoLandingVoltage;
        if(EE_Parameter.ComingHomeVoltage < 50)  BattComingHomeVoltage = LipoCells * EE_Parameter.ComingHomeVoltage; else BattComingHomeVoltage = EE_Parameter.ComingHomeVoltage;
 
        if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1;
        if(BattComingHomeVoltage  >= BattLowVoltageWarning) BattComingHomeVoltage  = BattLowVoltageWarning - 1;
        if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1;
       
        if(print)
         {
          printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
          if(BattComingHomeVoltage) printf("  Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10);
          if(BattAutoLandingVoltage) printf("  Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10);
         }
 
}
 
//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
        unsigned int timer,i,timer2 = 0, timerPolling;
        unsigned char update_spi = 1;
    DDRB  = 0x00;
    PORTB = 0x00;
    DDRD  = 0x0A; // UART & J3 J4 J5
        PORTD = 0x5F; // PPM-Input & UART
    for(timer = 0; timer < 1000; timer++); // verzögern
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
        unsigned char AccZ_ErrorCnt = 0;
    if(PINB & 0x02)
         {
          if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND
          else { PlatinenVersion = 22; ACC_AltitudeControl = 1;};
         }
     else          
     {
          PlatinenVersion = 25; ACC_AltitudeControl = 1;
         }  
#else
        if(PINB & 0x01)
     {
      if(PINB & 0x02) PlatinenVersion = 13;
       else           PlatinenVersion = 11;
     }
    else
     {
      if(PINB & 0x02) PlatinenVersion = 20;
       else          
            {
                 PlatinenVersion = 10;
                 DDRD  = 0x3E; // Speaker & TXD & J3 J4 J5
             PORTD = 0x47; // 
                }
     }
#endif
 
    DDRC  = 0x81; // I2C, Spaker
    DDRC  |=0x40; // HEF4017 Reset
    PORTC = 0xff; // Pullup SDA
    DDRB  = 0x1B; // LEDs und Druckoffset
    PORTB = 0x01; // LED_Rot
 
    HEF4017Reset_ON;
    MCUSR &=~(1<<WDRF);
    WDTCSR |= (1<<WDCE)|(1<<WDE);
    WDTCSR = 0;
 
    beeptime = 2500;
        StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
    if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
    ROT_OFF;
    GRN_ON;
 
    Timer_Init();
        TIMER2_Init();
        UART_Init();
    rc_sum_init();
        ADC_Init();
        I2C_Init(1);
        SPI_MasterInit();
        Capacity_Init();
        LIBFC_Init(LIB_FC_COMPATIBLE);
        GRN_ON;
    sei();
        ParamSet_Init();
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Check connected BL-Ctrls
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        // Check connected BL-Ctrls
        BLFlags |= BLFLAG_READ_VERSION;
        motor_read = 0;  // read the first I2C-Data
        SendMotorData();
        timer = SetDelay(500);
        while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
 
    printf("\n\rFound BL-Ctrl: ");
    timer = SetDelay(4000);
        for(i=0; i < MAX_MOTORS; i++)
        {
                SendMotorData();
                while(!(BLFlags & BLFLAG_TX_COMPLETE)  && !CheckDelay(timer)); //wait for complete transfer
                if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
                {
                        while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
                        {
                                SendMotorData();
                                while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
                        }
                }
                if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
                {
                        printf("%d",i+1);
                        FoundMotors++;
//                      if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r");
//                      else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r");
                }
        }
        for(i=0; i < MAX_MOTORS; i++)
        {
                if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
                {
                        printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
                        ServoActive = 2; // just in case the FC would be used as camera-stabilizer
                }
                Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
        }
   PrintLine();// ("\n\r===================================");
 
 
    if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER;
        if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors;
        //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
        {
                printf("\n\rCalibrating pressure sensor..");
                timer = SetDelay(1000);
                SucheLuftruckOffset();
                while (!CheckDelay(timer));
                printf("OK\n\r");
        }
 
        SetNeutral(0);
 
        ROT_OFF;
 
    beeptime = 2000;
    ExternControl.Digital[0] = 0x55;
 
 
        FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
        FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
 
        if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF))
        {
                FlugMinuten = 0;
                FlugMinutenGesamt = 0;
        }
    printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
    LcdClear();
    I2CTimeout = 5000;
    WinkelOut.Orientation = 1;
    LipoDetection(1);
        LIBFC_ReceiverInit(EE_Parameter.Receiver);
    PrintLine();// ("\n\r===================================");
        //SpektrumBinding();
    timer = SetDelay(2000);
        timerPolling = SetDelay(250);
 
        Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt);   // Note: this won't waste flash memory, if #DEBUG is not active
//printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN);
 
    DebugOut.Status[0] = 0x01 | 0x02;
        JetiBeep = 0;
    if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)   DisableRcOffBeeping = 1;
        EEAR = EE_DUMMY;  // Set the EEPROM Address pointer to an unused space
        while(1)
        {
        if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
//GRN_ON;
        if(UpdateMotor && AdReady)      // ReglerIntervall
            {
//GRN_OFF;
cli();
                        UpdateMotor--;    
sei();
            if(WinkelOut.CalcState) CalMk3Mag();
            else  MotorRegler();
                        SendMotorData();
            ROT_OFF;
            if(SenderOkay)  { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ }
                        else
                        {
                                TIMSK1 |= _BV(ICIE1); // enable PPM-Input
                                PPM_in[0] = 0; // set RSSI to zero on data timeout
                                VersionInfo.HardwareError[1] |= FC_ERROR1_PPM;
                        }
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//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
                                        VersionInfo.HardwareError[1] |= FC_ERROR1_I2C;
                                        DebugOut.Status[1] |= 0x02; // BL-Error-Status
                                   }
                  if((BeepMuster == 0xffff) && MotorenEin)
                   {
                    beeptime = 25000;
                    BeepMuster = 0x0080;
                   }
                }
            else
                {
                 ROT_OFF;
                }
                  LIBFC_Polling();
 
          if(!UpdateMotor)
                  {
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                   if(NewSBusData) ProcessSBus();  
                   else
#endif
                   {
                        if(BytegapSPI == 0)  SPI_TransmitByte();
                        if(CalculateServoSignals) CalculateServo();
                        DatenUebertragung();
                        BearbeiteRxDaten();
                        if(CheckDelay(timer))
                        {
                                static unsigned char second;
                                timer += 20; // 20 ms interval
                                CalcNickServoValue();
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                                if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
                                else
                                if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario();
                                // ++++++++++++++++++++++++++++
                                // + check the ACC-Z range
                                if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil
                                 {
                                  if(++AccZ_ErrorCnt > 50)
                                   {
                                    if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP;
                                        else CalibrationDone = 0;
                                   }
                                 }
                                 else AccZ_ErrorCnt = 0;
                                // ++++++++++++++++++++++++++++
#endif
                                if(MissingMotor || Capacity.MinOfMaxPWM < 30)
                                 {
                                  if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING;
                                  DebugOut.Status[1] |= 0x02; // BL-Error-Status
                                 }
                                 else
                                 {
                                   if(!beeptime)
                                    {
                                     if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
                                        }
                                 }
                                if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
                                if(PcZugriff) PcZugriff--;
                                else
                                {
                                        ExternControl.Config = 0;
                                        ExternStickNick = 0;
                                        ExternStickRoll = 0;
                                        ExternStickGier = 0;
                                        if(!SenderOkay)
                                        {
                                          if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)  
                                          {
                                                  beeptime = 15000;
                                                  BeepMuster = 0x0c00;
                                                  if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
                                          }
                                        }
                                }
                                if(NaviDataOkay > 200)
                                {
                                        NaviDataOkay--;
                                        VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
                                        VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT;
                                }
                                else
                                {
                                        if(NC_Version.Compatible)
                                         {
                                           VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX;
                                           NC_ErrorCode = 9; // "ERR: no NC communication"
                       if(BeepMuster == 0xffff && MotorenEin)
                                                {
                                                        beeptime = 15000;
                                                        BeepMuster = 0xA800;
                                                }
                                         }
                                        GPS_Nick = 0;
                                        GPS_Roll = 0;
                                        GPS_Aid_StickMultiplikator = 0;
                                        GPSInfo.Flags = 0;
                                        FromNaviCtrl_Value.Kalman_K = -1;
                                        FromNaviCtrl.AccErrorN = 0;
                                        FromNaviCtrl.AccErrorR = 0;
                    FromNaviCtrl.CompassValue = -1;
                                        FromNC_AltitudeSpeed = 0;
                                        FromNC_AltitudeSetpoint = 0;
                                        VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT;
                    NaviDataOkay = 0;
                                }
                           if(UBat <= BattLowVoltageWarning)
                                {
                                        FC_StatusFlags |= FC_STATUS_LOWBAT;
                                        if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB)
                                        {
                                                beeptime = 6000;
                                                BeepMuster = 0x0300;
                                        }
                                }
//                              SendSPI = SPI_BYTEGAP;
                                EEAR = EE_DUMMY;  // Set the EEPROM Address pointer to an unused space
                                // +++++++++++++++++++++++++++++++++
                                // Sekundentakt
                if(++second == 49)
                                 {
                                   second = 0;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
                                   if(ShowSettingNameTime) ShowSettingNameTime--;
#endif                             
                                   if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
                                   else timer2 = 1450; // 0,5 Minuten aufrunden
                                   if(modell_fliegt < 1024)
                                    {
                                         if(StartLuftdruck < Luftdruck) StartLuftdruck += 5;
                                         else
                                         if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5;
                                        }
                             if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
                                 }
                                // +++++++++++++++++++++++++++++++++
                                if(++timer2 == 2930)  // eine Minute
                                 {
                                   timer2 = 0;
                   FlugMinuten++;
                       FlugMinutenGesamt++;
                   SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
                   SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
                   SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
                                   timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
                             }
                        }
           LED_Update();
           Capacity_Update();
           }
          } //else DebugOut.Analog[18]++;
                  if(update_spi) update_spi--;
                 } // 500Hz
         if(update_spi == 0) // 41Hz
          {
            if(SPI_StartTransmitPacket()) update_spi = 12;
                else
                if(BytegapSPI == 0)  SPI_TransmitByte();  
           }  
         else if(BytegapSPI == 0)  SPI_TransmitByte();
    }
}
//DebugOut.Analog[16]
 
 

Rev 2408	Rev 2416
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + www.MikroKopter.com	2	// + www.MikroKopter.com
3	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	3	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
4	// + Software Nutzungsbedingungen (english version: see below)	4	// + Software Nutzungsbedingungen (english version: see below)
5	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -	5	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den	6	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool	7	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
8	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.	8	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.	9	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
11	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im	11	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
12	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.	12	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
13	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie	13	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.	14	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren	15	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	16	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
17	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren	17	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand	18	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
19	// + des Mitverschuldens offen.	19	// + des Mitverschuldens offen.
20	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.	20	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
21	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	21	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.	22	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang	23	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.	24	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.	25	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'	26	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.	27	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	28	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29	// + Software LICENSING TERMS	29	// + Software LICENSING TERMS
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -	31	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
32	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware	32	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
33	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.	33	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34	// + The Software may only be used with the Licensor's products.	34	// + The Software may only be used with the Licensor's products.
35	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this	35	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this	36	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37	// + agreement shall be the property of the Licensor.	37	// + agreement shall be the property of the Licensor.
38	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other	38	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39	// + features that can be used to identify the program may not be altered or defaced by the customer.	39	// + features that can be used to identify the program may not be altered or defaced by the customer.
40	// + The customer shall be responsible for taking reasonable precautions	40	// + The customer shall be responsible for taking reasonable precautions
41	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the	41	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and	42	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
43	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product	43	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.	44	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test	45	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.	46	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data	47	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.	48	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.	49	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50	// + #### END OF LICENSING TERMS ####	50	// + #### END OF LICENSING TERMS ####
51	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.	51	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
52	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	52	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
53	#include "main.h"	53	#include "main.h"
54	unsigned char DisableRcOffBeeping = 0;	54	unsigned char DisableRcOffBeeping = 0;
55	unsigned char PlatinenVersion = 10;	55	unsigned char PlatinenVersion = 10;
56	unsigned char BattLowVoltageWarning = 94;	56	unsigned char BattLowVoltageWarning = 94;
-		57	unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0;
57	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;	58	unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0;
58	unsigned int FlugSekunden = 0;	59	unsigned int FlugSekunden = 0;
59	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;	60	pVoidFnct_pVoidFnctChar_const_fmt _printf_P;
60	unsigned char FoundMotors = 0;	61	unsigned char FoundMotors = 0;
61	unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box	62	unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box
62	unsigned char ActiveParamSet = 3;	63	unsigned char ActiveParamSet = 3;
63	unsigned char LipoCells = 4;	64	unsigned char LipoCells = 4;
64		65
65	void PrintLine(void)	66	void PrintLine(void)
66	{	67	{
67	printf("\n\r===================================");	68	printf("\n\r===================================");
68	}	69	}
69		70
70		71
71	void CalMk3Mag(void)	72	void CalMk3Mag(void)
72	{	73	{
73	static unsigned char stick = 1;	74	static unsigned char stick = 1;
74	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;	75	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0;
75	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)	76	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick)
76	{	77	{
77	stick = 1;	78	stick = 1;
78	WinkelOut.CalcState++;	79	WinkelOut.CalcState++;
79	if(WinkelOut.CalcState > 4)	80	if(WinkelOut.CalcState > 4)
80	{	81	{
81	// WinkelOut.CalcState = 0; // in Uart.c	82	// WinkelOut.CalcState = 0; // in Uart.c
82	beeptime = 1000;	83	beeptime = 1000;
83	}	84	}
84	else Piep(WinkelOut.CalcState,150);	85	else Piep(WinkelOut.CalcState,150);
85	}	86	}
86	}	87	}
87		88
88		89
89	void LipoDetection(unsigned char print)	90	void LipoDetection(unsigned char print)
90	{	91	{
91	#define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO	92	#define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO
92	if(print)	93	if(print)
93	{	94	{
94	printf("\n\rBatt:");	95	printf("\n\rBatt:");
95	LipoCells = 1 + UBat / MAX_CELL_VOLTAGE;	96	LipoCells = 1 + UBat / MAX_CELL_VOLTAGE;
-		97	if(LipoCells > 6) LipoCells = 6;
96	}	98	}
-		99
97	if(EE_Parameter.UnterspannungsWarnung < 50)	100	if(EE_Parameter.UnterspannungsWarnung < 50)
98	{	101	{
99	BattLowVoltageWarning = LipoCells * EE_Parameter.UnterspannungsWarnung;	102	BattLowVoltageWarning = LipoCells * EE_Parameter.UnterspannungsWarnung;
100	if(print)	103	if(print)
101	{	104	{
102	Piep(LipoCells, 200);	105	Piep(LipoCells, 200);
103	printf(" %d Cells ", LipoCells);	106	printf(" %d Cells ", LipoCells);
104	}	107	}
105	}	108	}
106	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;	109	else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung;
107		110
108	// automatische Zellenerkennung	111	// automatische Zellenerkennung
109	if(EE_Parameter.AutoLandingVoltage < 50) EE_Parameter.AutoLandingVoltage = LipoCells * EE_Parameter.AutoLandingVoltage;	112	if(EE_Parameter.AutoLandingVoltage < 50) BattAutoLandingVoltage = LipoCells * EE_Parameter.AutoLandingVoltage; else BattAutoLandingVoltage = EE_Parameter.AutoLandingVoltage;
110	if(EE_Parameter.ComingHomeVoltage < 50) EE_Parameter.ComingHomeVoltage = LipoCells * EE_Parameter.ComingHomeVoltage;	113	if(EE_Parameter.ComingHomeVoltage < 50) BattComingHomeVoltage = LipoCells * EE_Parameter.ComingHomeVoltage; else BattComingHomeVoltage = EE_Parameter.ComingHomeVoltage;
111		114
112	if(EE_Parameter.AutoLandingVoltage > BattLowVoltageWarning) EE_Parameter.AutoLandingVoltage = BattLowVoltageWarning - 1;	115	if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1;
113	if(EE_Parameter.ComingHomeVoltage >= BattLowVoltageWarning) EE_Parameter.ComingHomeVoltage = BattLowVoltageWarning - 1;	116	if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1;
114	if(EE_Parameter.AutoLandingVoltage >= EE_Parameter.ComingHomeVoltage) EE_Parameter.AutoLandingVoltage = EE_Parameter.ComingHomeVoltage - 1;	117	if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1;
115		118
116	if(print)	119	if(print)
117	{	120	{
118	printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10);	121	printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10);
119	if(EE_Parameter.ComingHomeVoltage) printf(" Auto-CH: %d.%dV",EE_Parameter.ComingHomeVoltage/10,EE_Parameter.ComingHomeVoltage%10);	122	if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10);
120	if(EE_Parameter.AutoLandingVoltage) printf(" Autolanding: %d.%dV",EE_Parameter.AutoLandingVoltage/10,EE_Parameter.AutoLandingVoltage%10);	123	if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10);
121	}	124	}
-		125
122	}	126	}
123		127
124	//############################################################################	128	//############################################################################
125	//Hauptprogramm	129	//Hauptprogramm
126	int main (void)	130	int main (void)
127	//############################################################################	131	//############################################################################
128	{	132	{
129	unsigned int timer,i,timer2 = 0, timerPolling;	133	unsigned int timer,i,timer2 = 0, timerPolling;
130	unsigned char update_spi = 1;	134	unsigned char update_spi = 1;
131	DDRB = 0x00;	135	DDRB = 0x00;
132	PORTB = 0x00;	136	PORTB = 0x00;
133	DDRD = 0x0A; // UART & J3 J4 J5	137	DDRD = 0x0A; // UART & J3 J4 J5
134	PORTD = 0x5F; // PPM-Input & UART	138	PORTD = 0x5F; // PPM-Input & UART
135	for(timer = 0; timer < 1000; timer++); // verzögern	139	for(timer = 0; timer < 1000; timer++); // verzögern
136	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	140	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
137	unsigned char AccZ_ErrorCnt = 0;	141	unsigned char AccZ_ErrorCnt = 0;
138	if(PINB & 0x02)	142	if(PINB & 0x02)
139	{	143	{
140	if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND	144	if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND
141	else { PlatinenVersion = 22; ACC_AltitudeControl = 1;};	145	else { PlatinenVersion = 22; ACC_AltitudeControl = 1;};
142	}	146	}
143	else	147	else
144	{	148	{
145	PlatinenVersion = 25; ACC_AltitudeControl = 1;	149	PlatinenVersion = 25; ACC_AltitudeControl = 1;
146	}	150	}
147	#else	151	#else
148	if(PINB & 0x01)	152	if(PINB & 0x01)
149	{	153	{
150	if(PINB & 0x02) PlatinenVersion = 13;	154	if(PINB & 0x02) PlatinenVersion = 13;
151	else PlatinenVersion = 11;	155	else PlatinenVersion = 11;
152	}	156	}
153	else	157	else
154	{	158	{
155	if(PINB & 0x02) PlatinenVersion = 20;	159	if(PINB & 0x02) PlatinenVersion = 20;
156	else	160	else
157	{	161	{
158	PlatinenVersion = 10;	162	PlatinenVersion = 10;
159	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5	163	DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
160	PORTD = 0x47; //	164	PORTD = 0x47; //
161	}	165	}
162	}	166	}
163	#endif	167	#endif
164		168
165	DDRC = 0x81; // I2C, Spaker	169	DDRC = 0x81; // I2C, Spaker
166	DDRC \|=0x40; // HEF4017 Reset	170	DDRC \|=0x40; // HEF4017 Reset
167	PORTC = 0xff; // Pullup SDA	171	PORTC = 0xff; // Pullup SDA
168	DDRB = 0x1B; // LEDs und Druckoffset	172	DDRB = 0x1B; // LEDs und Druckoffset
169	PORTB = 0x01; // LED_Rot	173	PORTB = 0x01; // LED_Rot
170		174
171	HEF4017Reset_ON;	175	HEF4017Reset_ON;
172	MCUSR &=~(1<<WDRF);	176	MCUSR &=~(1<<WDRF);
173	WDTCSR \|= (1<<WDCE)\|(1<<WDE);	177	WDTCSR \|= (1<<WDCE)\|(1<<WDE);
174	WDTCSR = 0;	178	WDTCSR = 0;
175		179
176	beeptime = 2500;	180	beeptime = 2500;
177	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;	181	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
178	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC	182	if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
179	ROT_OFF;	183	ROT_OFF;
180	GRN_ON;	184	GRN_ON;
181		185
182	Timer_Init();	186	Timer_Init();
183	TIMER2_Init();	187	TIMER2_Init();
184	UART_Init();	188	UART_Init();
185	rc_sum_init();	189	rc_sum_init();
186	ADC_Init();	190	ADC_Init();
187	I2C_Init(1);	191	I2C_Init(1);
188	SPI_MasterInit();	192	SPI_MasterInit();
189	Capacity_Init();	193	Capacity_Init();
190	LIBFC_Init(LIB_FC_COMPATIBLE);	194	LIBFC_Init(LIB_FC_COMPATIBLE);
191	GRN_ON;	195	GRN_ON;
192	sei();	196	sei();
193	ParamSet_Init();	197	ParamSet_Init();
194		198
195	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	199	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
196	// + Check connected BL-Ctrls	200	// + Check connected BL-Ctrls
197	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	201	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
198	// Check connected BL-Ctrls	202	// Check connected BL-Ctrls
199	BLFlags \|= BLFLAG_READ_VERSION;	203	BLFlags \|= BLFLAG_READ_VERSION;
200	motor_read = 0; // read the first I2C-Data	204	motor_read = 0; // read the first I2C-Data
201	SendMotorData();	205	SendMotorData();
202	timer = SetDelay(500);	206	timer = SetDelay(500);
203	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	207	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
204		208
205	printf("\n\rFound BL-Ctrl: ");	209	printf("\n\rFound BL-Ctrl: ");
206	timer = SetDelay(4000);	210	timer = SetDelay(4000);
207	for(i=0; i < MAX_MOTORS; i++)	211	for(i=0; i < MAX_MOTORS; i++)
208	{	212	{
209	SendMotorData();	213	SendMotorData();
210	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	214	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
211	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up	215	if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up
212	{	216	{
213	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )	217	while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) )
214	{	218	{
215	SendMotorData();	219	SendMotorData();
216	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer	220	while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer
217	}	221	}
218	}	222	}
219	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)	223	if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
220	{	224	{
221	printf("%d",i+1);	225	printf("%d",i+1);
222	FoundMotors++;	226	FoundMotors++;
223	// if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r");	227	// if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)\n\r");
224	// else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r");	228	// else if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)\n\r");
225	}	229	}
226	}	230	}
227	for(i=0; i < MAX_MOTORS; i++)	231	for(i=0; i < MAX_MOTORS; i++)
228	{	232	{
229	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)	233	if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0)
230	{	234	{
231	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);	235	printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1);
232	ServoActive = 2; // just in case the FC would be used as camera-stabilizer	236	ServoActive = 2; // just in case the FC would be used as camera-stabilizer
233	}	237	}
234	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter	238	Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter
235	}	239	}
236	PrintLine();// ("\n\r===================================");	240	PrintLine();// ("\n\r===================================");
237		241
238		242
239	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;	243	if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] \|= FC_ERROR1_MIXER;
240	if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors;	244	if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors;
241	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)	245	//if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
242	{	246	{
243	printf("\n\rCalibrating pressure sensor..");	247	printf("\n\rCalibrating pressure sensor..");
244	timer = SetDelay(1000);	248	timer = SetDelay(1000);
245	SucheLuftruckOffset();	249	SucheLuftruckOffset();
246	while (!CheckDelay(timer));	250	while (!CheckDelay(timer));
247	printf("OK\n\r");	251	printf("OK\n\r");
248	}	252	}
249		253
250	SetNeutral(0);	254	SetNeutral(0);
251		255
252	ROT_OFF;	256	ROT_OFF;
253		257
254	beeptime = 2000;	258	beeptime = 2000;
255	ExternControl.Digital[0] = 0x55;	259	ExternControl.Digital[0] = 0x55;
256		260
257		261
258	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);	262	FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1);
259	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);	263	FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1);
260		264
261	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))	265	if((FlugMinutenGesamt == 0xFFFF) \|\| (FlugMinuten == 0xFFFF))
262	{	266	{
263	FlugMinuten = 0;	267	FlugMinuten = 0;
264	FlugMinutenGesamt = 0;	268	FlugMinutenGesamt = 0;
265	}	269	}
266	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);	270	printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt);
267	LcdClear();	271	LcdClear();
268	I2CTimeout = 5000;	272	I2CTimeout = 5000;
269	WinkelOut.Orientation = 1;	273	WinkelOut.Orientation = 1;
270	LipoDetection(1);	274	LipoDetection(1);
271	LIBFC_ReceiverInit(EE_Parameter.Receiver);	275	LIBFC_ReceiverInit(EE_Parameter.Receiver);
272	PrintLine();// ("\n\r===================================");	276	PrintLine();// ("\n\r===================================");
273	//SpektrumBinding();	277	//SpektrumBinding();
274	timer = SetDelay(2000);	278	timer = SetDelay(2000);
275	timerPolling = SetDelay(250);	279	timerPolling = SetDelay(250);
276		280
277	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active	281	Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active
278	//printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN);	282	//printf("\n\rEE_Parameter size:%i\n\r", PARAMSET_STRUCT_LEN);
279		283
280	DebugOut.Status[0] = 0x01 \| 0x02;	284	DebugOut.Status[0] = 0x01 \| 0x02;
281	JetiBeep = 0;	285	JetiBeep = 0;
282	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;	286	if(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING) DisableRcOffBeeping = 1;
283	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space	287	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
284	while(1)	288	while(1)
285	{	289	{
286	if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off	290	if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off
287	//GRN_ON;	291	//GRN_ON;
288	if(UpdateMotor && AdReady) // ReglerIntervall	292	if(UpdateMotor && AdReady) // ReglerIntervall
289	{	293	{
290	//GRN_OFF;	294	//GRN_OFF;
291	cli();	295	cli();
292	UpdateMotor--;	296	UpdateMotor--;
293	sei();	297	sei();
294	if(WinkelOut.CalcState) CalMk3Mag();	298	if(WinkelOut.CalcState) CalMk3Mag();
295	else MotorRegler();	299	else MotorRegler();
296	SendMotorData();	300	SendMotorData();
297	ROT_OFF;	301	ROT_OFF;
298	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }	302	if(SenderOkay) { SenderOkay--; /VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;/ }
299	else	303	else
300	{	304	{
301	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input	305	TIMSK1 \|= _BV(ICIE1); // enable PPM-Input
302	PPM_in[0] = 0; // set RSSI to zero on data timeout	306	PPM_in[0] = 0; // set RSSI to zero on data timeout
303	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;	307	VersionInfo.HardwareError[1] \|= FC_ERROR1_PPM;
304	}	308	}
305	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	309	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
306	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;	310	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160;
307	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;	311	//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101;
308	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	312	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
309	if(!--I2CTimeout \|\| MissingMotor)	313	if(!--I2CTimeout \|\| MissingMotor)
310	{	314	{
311	if(!I2CTimeout)	315	if(!I2CTimeout)
312	{	316	{
313	I2C_Reset();	317	I2C_Reset();
314	I2CTimeout = 5;	318	I2CTimeout = 5;
315	DebugOut.Analog[28]++; // I2C-Error	319	DebugOut.Analog[28]++; // I2C-Error
316	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;	320	VersionInfo.HardwareError[1] \|= FC_ERROR1_I2C;
317	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	321	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
318	}	322	}
319	if((BeepMuster == 0xffff) && MotorenEin)	323	if((BeepMuster == 0xffff) && MotorenEin)
320	{	324	{
321	beeptime = 25000;	325	beeptime = 25000;
322	BeepMuster = 0x0080;	326	BeepMuster = 0x0080;
323	}	327	}
324	}	328	}
325	else	329	else
326	{	330	{
327	ROT_OFF;	331	ROT_OFF;
328	}	332	}
329	LIBFC_Polling();	333	LIBFC_Polling();
330		334
331	if(!UpdateMotor)	335	if(!UpdateMotor)
332	{	336	{
333	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	337	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
334	if(NewSBusData) ProcessSBus();	338	if(NewSBusData) ProcessSBus();
335	else	339	else
336	#endif	340	#endif
337	{	341	{
338	if(BytegapSPI == 0) SPI_TransmitByte();	342	if(BytegapSPI == 0) SPI_TransmitByte();
339	if(CalculateServoSignals) CalculateServo();	343	if(CalculateServoSignals) CalculateServo();
340	DatenUebertragung();	344	DatenUebertragung();
341	BearbeiteRxDaten();	345	BearbeiteRxDaten();
342	if(CheckDelay(timer))	346	if(CheckDelay(timer))
343	{	347	{
344	static unsigned char second;	348	static unsigned char second;
345	timer += 20; // 20 ms interval	349	timer += 20; // 20 ms interval
346	CalcNickServoValue();	350	CalcNickServoValue();
347	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	351	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
348	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();	352	if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu();
349	else	353	else
350	if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario();	354	if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario();
351	// ++++++++++++++++++++++++++++	355	// ++++++++++++++++++++++++++++
352	// + check the ACC-Z range	356	// + check the ACC-Z range
353	if(ACC_AltitudeControl && ((Aktuell_az < 300) \|\| (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil	357	if(ACC_AltitudeControl && ((Aktuell_az < 300) \|\| (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil
354	{	358	{
355	if(++AccZ_ErrorCnt > 50)	359	if(++AccZ_ErrorCnt > 50)
356	{	360	{
357	if(MotorenEin) VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_TOP;	361	if(MotorenEin) VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_TOP;
358	else CalibrationDone = 0;	362	else CalibrationDone = 0;
359	}	363	}
360	}	364	}
361	else AccZ_ErrorCnt = 0;	365	else AccZ_ErrorCnt = 0;
362	// ++++++++++++++++++++++++++++	366	// ++++++++++++++++++++++++++++
363	#endif	367	#endif
364	if(MissingMotor \|\| Capacity.MinOfMaxPWM < 30)	368	if(MissingMotor \|\| Capacity.MinOfMaxPWM < 30)
365	{	369	{
366	if(MissingMotor) VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;	370	if(MissingMotor) VersionInfo.HardwareError[1] \|= FC_ERROR1_BL_MISSING;
367	DebugOut.Status[1] \|= 0x02; // BL-Error-Status	371	DebugOut.Status[1] \|= 0x02; // BL-Error-Status
368	}	372	}
369	else	373	else
370	{	374	{
371	if(!beeptime)	375	if(!beeptime)
372	{	376	{
373	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status	377	if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status
374	}	378	}
375	}	379	}
376	if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};	380	if(DisableRcOffBeeping) if(SenderOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;};
377	if(PcZugriff) PcZugriff--;	381	if(PcZugriff) PcZugriff--;
378	else	382	else
379	{	383	{
380	ExternControl.Config = 0;	384	ExternControl.Config = 0;
381	ExternStickNick = 0;	385	ExternStickNick = 0;
382	ExternStickRoll = 0;	386	ExternStickRoll = 0;
383	ExternStickGier = 0;	387	ExternStickGier = 0;
384	if(!SenderOkay)	388	if(!SenderOkay)
385	{	389	{
386	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)	390	if(BeepMuster == 0xffff && DisableRcOffBeeping != 2)
387	{	391	{
388	beeptime = 15000;	392	beeptime = 15000;
389	BeepMuster = 0x0c00;	393	BeepMuster = 0x0c00;
390	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;	394	if(DisableRcOffBeeping) DisableRcOffBeeping = 2;
391	}	395	}
392	}	396	}
393	}	397	}
394	if(NaviDataOkay > 200)	398	if(NaviDataOkay > 200)
395	{	399	{
396	NaviDataOkay--;	400	NaviDataOkay--;
397	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;	401	VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX;
398	VersionInfo.Flags \|= FC_VERSION_FLAG_NC_PRESENT;	402	VersionInfo.Flags \|= FC_VERSION_FLAG_NC_PRESENT;
399	}	403	}
400	else	404	else
401	{	405	{
402	if(NC_Version.Compatible)	406	if(NC_Version.Compatible)
403	{	407	{
404	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;	408	VersionInfo.HardwareError[1] \|= FC_ERROR1_SPI_RX;
405	NC_ErrorCode = 9; // "ERR: no NC communication"	409	NC_ErrorCode = 9; // "ERR: no NC communication"
406	if(BeepMuster == 0xffff && MotorenEin)	410	if(BeepMuster == 0xffff && MotorenEin)
407	{	411	{
408	beeptime = 15000;	412	beeptime = 15000;
409	BeepMuster = 0xA800;	413	BeepMuster = 0xA800;
410	}	414	}
411	}	415	}
412	GPS_Nick = 0;	416	GPS_Nick = 0;
413	GPS_Roll = 0;	417	GPS_Roll = 0;
414	GPS_Aid_StickMultiplikator = 0;	418	GPS_Aid_StickMultiplikator = 0;
415	GPSInfo.Flags = 0;	419	GPSInfo.Flags = 0;
416	FromNaviCtrl_Value.Kalman_K = -1;	420	FromNaviCtrl_Value.Kalman_K = -1;
417	FromNaviCtrl.AccErrorN = 0;	421	FromNaviCtrl.AccErrorN = 0;
418	FromNaviCtrl.AccErrorR = 0;	422	FromNaviCtrl.AccErrorR = 0;
419	FromNaviCtrl.CompassValue = -1;	423	FromNaviCtrl.CompassValue = -1;
420	FromNC_AltitudeSpeed = 0;	424	FromNC_AltitudeSpeed = 0;
421	FromNC_AltitudeSetpoint = 0;	425	FromNC_AltitudeSetpoint = 0;
422	VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT;	426	VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT;
423	NaviDataOkay = 0;	427	NaviDataOkay = 0;
424	}	428	}
425	if(UBat <= BattLowVoltageWarning)	429	if(UBat <= BattLowVoltageWarning)
426	{	430	{
427	FC_StatusFlags \|= FC_STATUS_LOWBAT;	431	FC_StatusFlags \|= FC_STATUS_LOWBAT;
428	if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB)	432	if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB)
429	{	433	{
430	beeptime = 6000;	434	beeptime = 6000;
431	BeepMuster = 0x0300;	435	BeepMuster = 0x0300;
432	}	436	}
433	}	437	}
434	// SendSPI = SPI_BYTEGAP;	438	// SendSPI = SPI_BYTEGAP;
435	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space	439	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
436	// +++++++++++++++++++++++++++++++++	440	// +++++++++++++++++++++++++++++++++
437	// Sekundentakt	441	// Sekundentakt
438	if(++second == 49)	442	if(++second == 49)
439	{	443	{
440	second = 0;	444	second = 0;
441	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	445	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
442	if(ShowSettingNameTime) ShowSettingNameTime--;	446	if(ShowSettingNameTime) ShowSettingNameTime--;
443	#endif	447	#endif
444	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;	448	if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++;
445	else timer2 = 1450; // 0,5 Minuten aufrunden	449	else timer2 = 1450; // 0,5 Minuten aufrunden
446	if(modell_fliegt < 1024)	450	if(modell_fliegt < 1024)
447	{	451	{
448	if(StartLuftdruck < Luftdruck) StartLuftdruck += 5;	452	if(StartLuftdruck < Luftdruck) StartLuftdruck += 5;
449	else	453	else
450	if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5;	454	if(StartLuftdruck > Luftdruck) StartLuftdruck -= 5;
451	}	455	}
452	if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT;	456	if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT;
453	}	457	}
454	// +++++++++++++++++++++++++++++++++	458	// +++++++++++++++++++++++++++++++++
455	if(++timer2 == 2930) // eine Minute	459	if(++timer2 == 2930) // eine Minute
456	{	460	{
457	timer2 = 0;	461	timer2 = 0;
458	FlugMinuten++;	462	FlugMinuten++;
459	FlugMinutenGesamt++;	463	FlugMinutenGesamt++;
460	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);	464	SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256);
461	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);	465	SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256);
462	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);	466	SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256);
463	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);	467	SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256);
464	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht	468	timer = SetDelay(20); // falls "timer += 20;" mal nicht geht
465	}	469	}
466	}	470	}
467	LED_Update();	471	LED_Update();
468	Capacity_Update();	472	Capacity_Update();
469	}	473	}
470	} //else DebugOut.Analog[18]++;	474	} //else DebugOut.Analog[18]++;
471	if(update_spi) update_spi--;	475	if(update_spi) update_spi--;
472	} // 500Hz	476	} // 500Hz
473	if(update_spi == 0) // 41Hz	477	if(update_spi == 0) // 41Hz
474	{	478	{
475	if(SPI_StartTransmitPacket()) update_spi = 12;	479	if(SPI_StartTransmitPacket()) update_spi = 12;
476	else	480	else
477	if(BytegapSPI == 0) SPI_TransmitByte();	481	if(BytegapSPI == 0) SPI_TransmitByte();
478	}	482	}
479	else if(BytegapSPI == 0) SPI_TransmitByte();	483	else if(BytegapSPI == 0) SPI_TransmitByte();
480	}	484	}
481	}	485	}
482	//DebugOut.Analog[16]	486	//DebugOut.Analog[16]
483		487
484		488

Subversion Repositories FlightCtrl

(root)/tags/V2.18a/main.c @ 2741 - Rev 2408 → 2416