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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <avr/boot.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "main.h"
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#include "main.h"
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#include "timer0.h"
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#include "timer0.h"
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#include "timer2.h"
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#include "timer2.h"
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#include "uart.h"
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#include "uart.h"
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#include "uart1.h"
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#include "uart1.h"
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#include "twimaster.h"
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#include "twimaster.h"
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#include "eeprom.h"
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#include "eeprom.h"
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#include "_Settings.h"
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#include "_Settings.h"
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uint8_t EEPromArray[E2END+1] EEMEM;
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uint8_t BoardRelease = 10;
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// -- Parametersatz aus EEPROM lesen ---
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// number [0..5]
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void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
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{
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   if (number > 5) number = 5;
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   eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length);
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}
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// -- Parametersatz ins EEPROM schreiben ---
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// number [0..5]
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void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
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{
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   if(number > 5) number = 5;
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   eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length);
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   eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number);                              // diesen Parametersatz als aktuell merken
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}
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/***************************************************/
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/*       Get number of active parameter set        */
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/***************************************************/
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uint8_t GetActiveParamSetNumber(void)
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{
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        uint8_t set;
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        set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
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        if(set > 5)
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        {
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        set = 2;
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        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set);                            // diesen Parametersatz als aktuell merken
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        }
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        return(set);
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uint8_t BoardRelease = 10;
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}
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        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a');
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        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a');
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        printf("\n\r==============================");
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        printf("\n\r==============================");
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        GRN_ON;
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#define EE_DATENREVISION 69 // wird angepasst, wenn sich die EEPROM-Daten geändert haben
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    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
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        {
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        GRN_ON;
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          printf("\n\rInit. EEPROM: Generiere Default-Parameter...");
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          DefaultKonstanten1();
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          for (unsigned char i=0;i<6;i++)
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      {
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       if(i==2) DefaultKonstanten2(); // Kamera
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       if(i==3) DefaultKonstanten3(); // Beginner
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       if(i>3)  DefaultKonstanten2(); // Kamera
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       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
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      }
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          eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting
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          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
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        // Parameter set handling
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        }
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        ParamSet_Init();
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    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
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    if(GetParamByte(PID_ACC_NICK) > 4)
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     {
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       printf("\n\rACC nicht abgeglichen!");
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     }
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     {
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        ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
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       printf("\n\rACC nicht abgeglichen!");
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    printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
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     }
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        if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
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        if(ParamSet.GlobalConfig & CFG_HOEHENREGELUNG)
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    BeepTime = 2000;
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    BeepTime = 2000;
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    ExternControl.Digital[0] = 0x55;
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    ExternControl.Digital[0] = 0x55;
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        printf("\n\rSteuerung: ");
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        printf("\n\rSteuerung: ");
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        if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
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        if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
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        else printf("Neutral");
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        else printf("Neutral");
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               BearbeiteRxDaten();
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               BearbeiteRxDaten();
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              }
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              }
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              else BearbeiteRxDaten();
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              else BearbeiteRxDaten();
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         if(CheckDelay(timer))
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         if(CheckDelay(timer))
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            {
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            {
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            if(UBat < EE_Parameter.UnterspannungsWarnung)
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            if(UBat < ParamSet.UnterspannungsWarnung)
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                {
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                {
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                  if(BeepModulation == 0xFFFF)
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                  if(BeepModulation == 0xFFFF)
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                   {
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                   {
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                    BeepTime = 6000; // 0.6 seconds
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                    BeepTime = 6000; // 0.6 seconds
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                    BeepModulation = 0x0300;
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                    BeepModulation = 0x0300;