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Rev 1424 Rev 1431
Line 192... Line 192...
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    rc_sum_init();
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    rc_sum_init();
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        ADC_Init();
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        ADC_Init();
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        i2c_init();
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        i2c_init();
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        SPI_MasterInit();
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        SPI_MasterInit();
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        InitFC();
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    InitFC();
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        sei();
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        printf("\n\r===================================");
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        printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a');
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        printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware");
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        printf("\n\rwww.MikroKopter.de (c) HiSystems GmbH");
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        printf("\n\r===================================");
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        GRN_ON;
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    sei();
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        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
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        GRN_ON;
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        ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 13); // read only the first bytes
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    if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
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    if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte
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       (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff))                   // Settings reset via Koptertool
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       (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff))                   // Settings reset via Koptertool
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        {
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        {
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         Mixer.Revision = MIXER_REVISION;
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         Mixer.Revision = MIXER_REVISION;
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     memcpy(Mixer.Name, "Quadro\0", 11);
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     memcpy(Mixer.Name, "Quadro\0", 11);
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     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
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     eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer));
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    }
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    }
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    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
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    printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors);
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Check connected BL-Ctrls
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// + Check connected BL-Ctrls
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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        printf("\n\rFound BL-Ctrl: ");
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        printf("\n\rFound BL-Ctrl: ");
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    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
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    motorread = 0;   UpdateMotor = 0;   SendMotorData(); while(!UpdateMotor); motorread = 0;  // read the first I2C-Data
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       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
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       WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
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      }
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      }
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          SetActiveParamSetNumber(3); // default-Setting
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          SetActiveParamSetNumber(3); // default-Setting
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          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
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          eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
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        }
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        }
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    FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
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    FlugMinuten = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1]);
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    FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);
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    FlugMinutenGesamt = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_MINUTES+1]);
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    if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff)
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    if(FlugMinutenGesamt == 0xffff || FlugMinuten == 0xffff)
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         {
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         {
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          FlugMinuten = 0;
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          FlugMinuten = 0;
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    LcdClear();
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    LcdClear();
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    I2CTimeout = 5000;
 360 
    I2CTimeout = 5000;
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    WinkelOut.Orientation = 1;
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    WinkelOut.Orientation = 1;
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    LipoDetection(1);
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    LipoDetection(1);
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         InitReceiver();
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        printf("\n\r===================================\n\r");
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        printf("\n\r===================================\n\r");
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//SpektrumBinding();
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//SpektrumBinding();
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    timer = SetDelay(2000);
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    timer = SetDelay(2000);
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        timerPolling = SetDelay(250);
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        timerPolling = SetDelay(250);