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Rev 1338 | Rev 1344 | ||
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Line 197... | Line 197... | ||
197 | 197 | ||
Line 198... | Line 198... | ||
198 | sei(); |
198 | sei(); |
199 | 199 | ||
- | 200 | printf("\n\r==================================="); |
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- | 201 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
|
- | 202 | printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware"); |
|
- | 203 | printf("\n\rwww.MikroKopter.de (c) HiSystems GmbH"); |
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200 | printf("\n\r==================================="); |
204 | printf("\n\r==================================="); |
201 | printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
205 | |
202 | if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P |
206 | if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P |
203 | { |
207 | { |
204 | Uart1Init(); |
208 | Uart1Init(); |
Line 339... | Line 343... | ||
339 | I2CTimeout = 5000; |
343 | I2CTimeout = 5000; |
340 | WinkelOut.Orientation = 1; |
344 | WinkelOut.Orientation = 1; |
341 | LipoDetection(1); |
345 | LipoDetection(1); |
342 | printf("\n\r===================================\n\r"); |
346 | printf("\n\r===================================\n\r"); |
343 | //SpektrumBinding(); |
347 | //SpektrumBinding(); |
344 | timer = SetDelay(100); |
348 | timer = SetDelay(1000); |
345 | while (1) |
349 | while (1) |
346 | { |
350 | { |
347 | if(UpdateMotor && AdReady) // ReglerIntervall |
351 | if(UpdateMotor && AdReady) // ReglerIntervall |
348 | { |
352 | { |
349 | UpdateMotor=0; |
353 | UpdateMotor=0; |
350 | J3High; |
- | |
351 | if(WinkelOut.CalcState) CalMk3Mag(); |
354 | if(WinkelOut.CalcState) CalMk3Mag(); |
352 | else MotorRegler(); |
355 | else MotorRegler(); |
353 | SendMotorData(); |
356 | SendMotorData(); |
354 | J3Low; |
- | |
355 | ROT_OFF; |
357 | ROT_OFF; |
356 | if(SenderOkay) SenderOkay--; |
358 | if(SenderOkay) SenderOkay--; |
357 | else TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
359 | else TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
358 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
359 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
361 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
Line 391... | Line 393... | ||
391 | BearbeiteRxDaten(); |
393 | BearbeiteRxDaten(); |
392 | } |
394 | } |
393 | else BearbeiteRxDaten(); |
395 | else BearbeiteRxDaten(); |
394 | if(CheckDelay(timer)) |
396 | if(CheckDelay(timer)) |
395 | { |
397 | { |
396 | timer += 20;//SetDelay(20); |
398 | timer += 20; |
397 | if(PcZugriff) PcZugriff--; |
399 | if(PcZugriff) PcZugriff--; |
398 | else |
400 | else |
399 | { |
401 | { |
400 | ExternControl.Config = 0; |
402 | ExternControl.Config = 0; |
401 | ExternStickNick = 0; |
403 | ExternStickNick = 0; |
Line 423... | Line 425... | ||
423 | if(++timer2 == 2930) // eine Minute |
425 | if(++timer2 == 2930) // eine Minute |
424 | { |
426 | { |
425 | timer2 = 0; |
427 | timer2 = 0; |
426 | FlugMinuten++; |
428 | FlugMinuten++; |
427 | FlugMinutenGesamt++; |
429 | FlugMinutenGesamt++; |
428 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); // ACC-NeutralWerte speichern |
430 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2],FlugMinuten / 256); |
429 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); // ACC-NeutralWerte speichern |
431 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES2+1],FlugMinuten % 256); |
430 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256); // ACC-NeutralWerte speichern |
432 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES],FlugMinutenGesamt / 256); |
431 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256); // ACC-NeutralWerte speichern |
433 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_MINUTES+1],FlugMinutenGesamt % 256); |
- | 434 | timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
|
432 | } |
435 | } |
433 | } |
436 | } |
434 | LED_Update(); |
437 | LED_Update(); |
435 | } |
438 | } |
436 | if(!SendSPI) { SPI_TransmitByte(); } |
439 | if(!SendSPI) { SPI_TransmitByte(); } |